1. Stir yeast into warm milk with a pinch of sugar and let stand until foamy, about 5–10 minutes.

2. In a mixing bowl, combine foamy yeast mixture, granulated sugar, eggs, softened butter, half of the flour, and salt; mix until combined.

3. Gradually add remaining flour and knead until dough is soft and slightly tacky but not sticky, about 5–7 minutes.

4. Place dough in a greased bowl, cover, and let rise in a warm place until doubled, about 1–1½ hours.

5. Mix brown sugar and cinnamon in a bowl and set aside.

6. Roll dough on a floured surface into a 16×12 inch rectangle; spread softened butter over surface and sprinkle with cinnamon sugar.

7. Roll dough into a log from the long edge and slice into 12 even rolls using a sharp knife or dental floss.

8. In a saucepan over medium heat, melt 1/2 cup butter, stir in 1 cup brown sugar until smooth, add heavy cream and vanilla, then stir in pecans.

9. Pour a layer of caramel-pecan topping into a greased 9×13 inch pan and arrange rolls cut-side down on top.

10. Cover pan and let rolls rise until puffed, about 30–45 minutes.

11. Preheat oven to 350°F and bake rolls on the middle rack for 25–30 minutes, until tops are golden and caramel bubbles at edges.

12. Let rolls rest for 5–10 minutes, then invert pan onto a platter to coat rolls with sticky caramel before serving.