Preheat the oven to 400°F. Line a 12-cup muffin tin with paper liners.
In a large bowl, combine the oats and milk. Let them soak for about 10 minutes while you prepare the rest of the ingredients.
In a medium bowl, whisk together the flour, sugar, baking powder, cinnamon, and salt.
To the soaked oats, whisk in the eggs, oil, and vanilla until smooth.
Pour the dry ingredients into the wet ingredients and mix until just combined, being careful not to over mix. Gently fold in the raisins.
In a small bowl, whisk together the sugar and oats for the topping.
Divide the batter evenly among the muffin cups. Sprinkle the tops with the sugar oats mixture.
Bake for 7 minutes. Lower the heat to 350°F and continue baking for 13–15 minutes, or until a toothpick inserted in the center comes out clean.
Cool in the pan for 5 minutes, then transfer to a wire rack to cool completely.