In a small bowl, combine warm milk and yeast. Let sit for 5–10 minutes until foamy. In a large mixing bowl, whisk together flour, granulated sugar, and salt. Add melted butter, eggs, and yeast mixture. Mix until a sticky dough forms. Knead for 8–10 minutes on a floured surface or with a stand mixer until smooth and elastic.

Place the dough in a greased bowl, cover with a towel, and let rise in a warm place for 1–1.5 hours, or until doubled in size.

In a small bowl, mix softened butter, brown sugar, and cinnamon until smooth. Set aside chopped pecans.

Punch down risen dough and roll into a 16×12-inch rectangle on a floured surface. Spread cinnamon-sugar butter mixture evenly over dough. Sprinkle chopped pecans on top.

Starting from the long edge, roll dough into a tight log. Pinch seam to seal. Cut into 12 even rolls using a sharp knife or dental floss. Place rolls in a greased 9×13-inch baking dish, leaving a little space between each.

Cover rolls with a towel and let rise for 30–45 minutes until puffy. Preheat oven to 350°F (175°C) while rolls rise.

Bake rolls for 25–30 minutes until golden brown.

In a small saucepan, melt butter over medium heat. Add brown sugar and heavy cream, stirring constantly. Bring to a gentle boil and cook 3–5 minutes until slightly thickened. Remove from heat and stir in vanilla extract and salt.

Pour warm caramel sauce over baked rolls, coating each roll generously. Allow to cool slightly so caramel sets but remains gooey.

Serve warm with coffee, tea, or milk.