In a small bowl, stir together the warmed milk, granulated sugar, and active dry yeast. Allow the mixture to sit for about 5-10 minutes, or until it becomes frothy and foamy. This indicates the yeast is active.
In a large mixing bowl, combine the frothy yeast mixture with the melted butter, eggs, and vanilla extract. Whisk until blended. Gradually add in the flour and salt, mixing with a wooden spoon until a shaggy dough begins to form.
Transfer the dough onto a lightly floured surface. Knead the dough for about 5-7 minutes, or until it becomes smooth and elastic. Place the kneaded dough into a greased bowl, cover it with a damp cloth, and let it rise in a warm spot for approximately 1 hour, or until it doubles in size.
In a small bowl, whisk together the brown sugar and ground cinnamon. Set this mixture aside as it will be your filling.
After the dough has risen, gently punch it down to release air. Roll it out on a lightly floured surface into a rectangle measuring approximately 16x12 inches.
Evenly spread the cinnamon-sugar mixture over the rolled-out dough. Generously sprinkle the chopped pecans on top, pressing them down slightly to ensure they stick.
Carefully roll the dough tightly from one long edge to the other, forming a log. Using a sharp knife or dental floss, cut the log into 12 equal pieces to create your rolls.
Grease a 9x13 inch baking dish with the tablespoon of butter. Drizzle half of the caramel sauce across the bottom of the dish, then neatly arrange the cinnamon rolls in the prepared dish.
Cover the arranged rolls with a clean kitchen cloth and allow them to rise again for about 30 minutes, until they puff up once more.
While the rolls are rising, preheat your oven to 350°F (175°C) to ensure it's hot and ready for baking.
Once risen, place the baking dish in the oven and bake the cinnamon rolls for 25-30 minutes, or until they are golden brown. Meanwhile, gently heat the remaining caramel sauce in a small saucepan for drizzling later.
After baking, remove the rolls from the oven and allow them to cool for a few minutes. Generously drizzle the warm caramel sauce over the top before serving. Enjoy the gooey, warm goodness of these delicious rolls!
Notes
For an elegant touch, serve the rolls on a beautiful platter and drizzle more caramel sauce over each roll just before serving. Add a sprinkle of extra chopped pecans on top for garnish.