Stir together 1-1/2 cups flour and yeast in in the bowl of the stand mixer.
Heat milk, 1/3 cup butter, sugar and salt until warm and butter is almost melted. Add to flour mixture and stir. Add the egg. Beat with mixer on low for 30 seconds, scraping bowl constantly. Beat on high for 3 minutes.
Stir in 2 cups of flour. Attach the dough hook and mix on low speed for 3 to 5 minutes, until the dough is smooth and elastic and pulls away from the sides of the bowl and hangs onto the hook. Sprinkle in a little more flour as necessary, one tablespoon at a time, if the dough is sticking to the bowl.
Turn out onto a lightly floured surface and shape into a ball. Place in the lightly greased bowl and cover with plastic wrap. Let rise in a warm place until doubled, about 1 to 1-1/2 hours.
Punch down turn on floured surface. Cover with a towel and let rise 10 minutes. Roll dough into a rectangle 18″ x 10″. Make sure the butter is very soft and spread it on the dough. Stir together the brown sugar and cinnamon and sprinkle on the dough. Top with raisins and nuts. Roll jelly-roll style and pinch the seams to seal. Using a sharp knife or dental floss, cut the cylinder into 12 even slices. Arrange the rolls cut side down in a 9x13x2-inch pan. Cover lightly with plastic wrap and let rise 30-40 minutes or refrigerate overnight.
If the rolls are in the refrigerator, bring them out and let them come to room temperature. Preheat the oven to 350° F. Brush the rolls with the half & half. Bake for 25 to 30 minutes or until golden.
CREAM CHEESE GLAZE
While the rolls are baking, mix the cream cheese, softened butter, and vanilla in a small bowl until smooth and creamy. Add the sugar and beat until all the lumps are gone, about 1 minute. Slowly add the milk until the glaze is slightly runny. Drizzle over the hot cinnamon rolls while still in the pan.