Combine 5 ½ cups milk, sugar, cinnamon stick and salt in a large saucepan over medium to medium-high heat.
Bring the milk mixture to a boil.
Add the uncooked rice to the milk, mix well, and reduce the heat to low.
Allow the rice mixture to cook at a gentle simmer, reducing heat as needed.
Continue cooking the rice mixture for 45- 60 minutes, stirring frequently to make sure it isn’t sticking to the bottom of the pan. (depending on the stovetop heat, the time can vary).
The rice pudding mixture will thicken up to consistency of Greek yogurt.
Once thickened, remove from the pan from the heat and stir in the vanilla extract and raisins.
Allow the rice pudding to cool and if needed, add the additional milk to thin out the mixture or if you’re feeling decadent, add heavy cream instead of milk.
Sprinkle with cinnamon to serve, and top with freshly made whipped cream. If you want to forgo the whipped cream stir a little heavy cream into each portion before serving.