In a mixing bowl, combine warm milk, yeast, and sugar. Stir and let the mixture sit for 5-10 minutes or until the yeast becomes foamy. Add eggs, melted butter, and salt to the mixture. Mix with an electric mixer or by hand.
Knead the dough on a floured surface for 8-10 minutes, or until the dough is smooth and elastic. Add raisins if using and knead until they are evenly distributed.
Place the dough in a greased bowl, cover with a damp towel, and let it rise in a warm place for about 2 hours or until doubled in size. Preheat the oven to 350°F (180°C). Grease a muffin tin.