The invention provide a class of actinically-crosslinkable silicone-containing prepolymers which comprise dangling polysiloxane chains each having a terminal ethylenically-unsaturated group and are obtained in a one-step of RAFT polymerization of a reactive mixture comprising a polysiloxane crosslinker, a hydrophilic vinylic monomer, a RAFT agent, and a free-radical initiator. The present invention is also related to silicone hydrogel contact lenses made from a prepolymer of the invention and methods for making the contact lenses in a cost-effective way and with high consistency and high fidelity to the original lens design.