Warm the milk to about 115°F to help the yeast activate.

Grease a 9x13 inch pan and set aside.

Chop pecans if needed.

In a large bowl, stir warm milk and yeast, and let sit for 1–2 minutes.

Add 1/2 cup granulated sugar, melted butter, eggs, and salt; mix well.

Add 2 cups of flour and stir to combine, then add remaining flour 1 cup at a time until the dough is soft but not sticky.

Knead by hand for 5–7 minutes or use a stand mixer with a dough hook for 4–5 minutes until smooth and elastic.

Place dough in a greased bowl, cover with a towel, and let rise for 1 hour or until doubled.

Mix 1/2 cup softened butter with 1 cup packed brown sugar, 1/4 cup granulated sugar, and 2 Tbsps cinnamon until smooth; set aside.

After the dough rises, roll it on a floured surface into a rectangle about 16x12 inches.

Spread the filling evenly over the dough.

Roll the dough tightly from the long side into a log.

Cut the log into 12 equal rolls and place them cut side up in the greased pan.

For the caramel topping, heat 1 cup brown sugar with 2/3 cup heavy cream in a small saucepan on low; stir until smooth and thick.

Remove from heat and stir in 1 cup chopped pecans. Pour this mixture into the bottom of the pan before placing the rolls on top.

Cover the pan with a towel and let the rolls rise for 30–45 minutes until puffed.

Preheat the oven to 350°F and bake the rolls for 25–30 minutes until golden and set.

Let cool for 5 minutes, then invert the pan onto a tray to serve.