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Heat milk to about 95°F (35°C)– use microwave or stovetop. Pour the warm milk into the bowl of a stand electric mixer fitted with the dough hook attachment (OR you can use a handheld mixer OR no mixer, but a stand mixer is ideal). Manually whisk in the sugar and yeast. Cover with a towel and let sit until the yeast is foamy, about 5-10 minutes. If the yeast does not dissolve and foam, start over with active yeast. On low speed, beat in the softened butter until it is slightly broken up. Beat in the eggs, one at a time, and then the salt. The butter won’t really be mixing into the mixture, so don’t be alarmed if it stays in pieces. On low speed, gradually add the flour. Once it is all added, beat on medium speed until a soft dough forms. Increase speed to medium-high and beat until the dough is soft and supple, about 6 minutes longer. *If you do not have a stand-mixer with a hook attachment, knead the dough by hand in this step.
Transfer the dough to a lightly floured surface and knead it with your hands for 1 minute. Form the dough into a ball and transfer it to a lightly greased bowl. Cover the bowl with aluminum foil, plastic wrap, or a clean kitchen towel. Allow the dough to rise in a relatively warm environment for 1-2 hours or until double in size. (I always let it rise on the counter. For a tiny reduction in rise time, see my answer to Where Should Dough Rise? in my Baking with Yeast Guide.)
Grease the bottom and sides of a 9×13 inch baking dish. Spread pecans in an even layer in the pan. Set aside. Combine the rest of the topping ingredients in a small saucepan over medium heat. Stir until the butter has melted, then bring to a simmer. Allow to simmer for 1 minute, stirring occasionally. Remove from heat, give it a quick whisk, then pour over pecans. Set aside.
Turn the risen dough out onto a lightly floured work surface and, using a rolling pin, roll into a 12×18 inch rectangle. Make sure the dough is smooth and evenly thick.
Spread softened butter all over dough. Top evenly with the brown sugar and cinnamon. Tightly roll up the dough to form an 18-inch-long log. Cut into 12 even rolls. Arrange them on top of the pecan topping.
Cover the rolls with aluminum foil or plastic wrap and allow to rise in a warm environment again for about 45-60 minutes.
Preheat the oven to 375°F (191°C). Bake rolls for 25 minutes or until they are golden brown. About halfway through the bake time, I like to cover the rolls loosely with aluminum foil so the tops don’t over-brown. Remove from the oven and place on a wire rack. Cool for 5 minutes.
Using oven mitts, carefully invert the pan onto a large serving platter. The warm topping will deliciously melt down the sides. Serve warm.