Measure all dough ingredients into bread machine pan in the order suggested by the manufacturer, adding baby food with liquids.
Process in dough/manual cycle. When cycle is complete, remove dough from machine and place on lightly floured surface. If necessary, knead in enough flour to make dough easy to handle. Using a rolling pin, shape dough into a 14x10 inch rectangle.
To prepare filling: Brush honey on dough. Evenly sprinkle with brown sugar, cinnamon and raisins. Beginning at long end, roll up tightly; pinch seam to seal. Cut into 8 equal pieces. Place, cut sides up, in greased 9 inch round cake pan or 7x11 inch baking pan. Cover; let rise in warm, draft-free place until doubled in size, about 30 to 45 minutes.
Preheat oven to 375 degrees. Bake rolls for 25 to 30 minutes or until done. Remove from pan; let cool on wire rack.
To make icing: In small bowl, combine powdered sugar, milk and vanilla. Stir until smooth. Drizzle on rolls.