Step 1

For the cinnamon rolls: Pour the warm milk into the bowl of a stand mixer and add the yeast and 1 teaspoon of the granulated sugar. Stir lightly. Set aside until the yeast is foamy, 5 to 10 minutes.

Step 2

Fit the mixer with the paddle attachment. On low speed, beat in the remaining granulated sugar. Add the salt, butter, egg, and 2 cups of the flour and mix until combined. With the mixer running on low speed, add the remaining 3/4 cup flour, 1/4 cup at a time, until a soft dough forms and the dough starts to pull away from the sides of the bowl.

Step 3

Beat on low speed for 2 minutes more to knead the dough. Cover the bowl of the mixer with a clean dishtowel and let rest for 15 minutes.

Step 4

For the filling: Prepare the slow cooker by lining the inside with parchment paper and spraying with cooking spray.

Step 5

In a small bowl, combine the cinnamon, granulated sugar, and pecans.

Step 6

Turn the dough out onto a board and roll it out to an 8 x 14-inch rectangle. Spread the softened butter on top. Sprinkle the cinnamon mixture evenly over the dough.

Step 7

Roll the dough tightly starting from one long edge, then slice it crosswise into 10 even pieces. Arrange the rolls inside the lined slow cooker. Place a long piece of paper towel over the top of the slow cooker and cover with the lid.

Step 8

Cook on High for 2 hours. Once the rolls are completely cooked, transfer them to a serving platter by lifting out the parchment paper.

Step 9

For the cream cheese frosting: In a small bowl, whisk together the powdered sugar, cream cheese, milk, and vanilla until smooth. Drizzle over the warm rolls and serve immediately.