In a large bowl, combine flour, sugar and salt. Dissolve the yeast in a measuring cup filled with the warmed milk, then stir milk mixture, vegetable oil, vanilla extract and egg into the flour mixture.
Mix well, until very smooth. Stir in raisins, if using. Pour into prepared pan and let rest for 15 minutes.
While the dough rests, mix together butter, brown sugar, cinnamon and cardamom in a food processor until the mixture is crumbly. Sprinkle evenly on top of rested dough and press the mixture down into the dough with your fingertips.