Heat oven to 400. Grease rectangular pan, 13x9x2 inches. Mix brown sugar and cinnamon; reserve. Mix baking mix, milk and granulated sugar until dough forms. If dough is too sticky, gradually mix in enough baking mix to mke dough easy to handle (up to 1/4 cup).
Turn dough onto surface generously dusted with baking mix; gently roll in baking mix to coat. Shape into ball, knead 10 times. Roll dough into rectangle, 15x9 inches; spread with margarine. Sprinkle evenly with brown sugar mixture; sprinkle raisins evenly over sugar mixture. Roll up tightly, beginning at 15 inch side. Seal well by pinching edge of dough into roll. Cut into 1 1/4 inch slices; place with cut sides down in pan.
Bake 25-30 minutes or until golden brown. Cool 5 minutes; remove from pan. Spread glaze over warm rolls.
To make glaze mix glaze ingredients until smooth.