1. Proof yeast by stirring it and a teaspoon of sugar into warm milk until foamy, about 5–10 minutes.

2. Combine flour, remaining sugar, salt, eggs, butter, vanilla and yeast mixture; mix until a smooth dough forms.

3. Knead dough on a lightly floured surface or in a stand mixer for 8–10 minutes until elastic.

4. Place dough in a greased bowl, cover and let rise in a warm spot until doubled, about 60–90 minutes.

5. Meanwhile, melt butter and brown sugar in a saucepan over medium heat until bubbly, remove from heat, stir in cream and vanilla, then pour into a greased 9×13-inch pan and sprinkle with toasted pecans.

6. Punch down risen dough, roll into a 12×18-inch rectangle, spread softened butter and sprinkle evenly with brown sugar and cinnamon.

7. Roll dough into a tight log, slice into 12 even pieces, and arrange cut rolls atop the caramel pecan layer leaving space between each.

8. Cover and let the rolls rise until puffy, about 45–60 minutes, then bake at 350°F for 25–30 minutes until golden.

9. Let the pan rest 5 minutes, then invert onto a tray so the caramel pecans coat each roll before serving warm.