Heat the milk in a small saucepan until it bubbles, then remove from heat. Mix in 55g butter or margarine; stir until melted. Let cool until lukewarm.
In a large mixing bowl, combine about 300g of the flour, yeast, sugar and salt; mix well. Add water, egg and the milk mixture; beat well. Add the remaining flour, about 50g at a time, stirring well after each addition. When the dough has just pulled together, turn it out onto a lightly floured surface and knead until smooth, about 5 minutes.
Cover the dough with a damp cloth and let rest for 10 minutes. Meanwhile, in a small bowl, mix together brown sugar, cinnamon and 110g butter or margarine.
Roll out dough into a 30x23cm (12x9 in) rectangle. Spread dough with butter and sugar mixture. Sprinkle with sultanas or raisins if desired. Roll up dough and pinch seam to seal. Cut into 12 equal size rolls and place in 12 lightly greased muffin cups. Cover and let rise until doubled, about 30 minutes. Meanwhile, preheat oven to 190 C / Gas 5.
Bake in the preheated oven for 20 minutes, or until browned. Remove from muffin cups to cool. Serve warm.