In a 3-quart saucepan, combine milk, sugar, and vanilla bean and bring to a simmer over low heat. Do not boil. Add rice mixture and raisins and simmer for about 20 minutes, stirring frequently, until most of the milk is absorbed and the rice is creamy. Transfer the pudding to a glass, ceramic, or metal bowl and sprinkle with cinnamon. Cool to just warm and serve.