Start by making the dough. Heat milk to about 95°F using the microwave or stovetop. I heated the milk for 20-25 seconds in the microwave. Pour the warm milk into the bowl of a stand mixer fitted with the dough hook attachment. Whisk the sugar and yeast into the milk and cover with a towel. Let sit until the yeast is foamy, about 5-10 minutes. If the yeast doesn't dissolve and foam start over with fresh active yeast as it likely isn't active.
When yeast is foamy beat in the melted butter. Next add the eggs, one at a time, and then the salt. The butter will stay sort of lumpy.
On low speed, slowly add the flour. When it's incorporated, beat turn up to medium speed until a soft dough forms, about 2 minutes. Increase speed to medium-high and beat until the dough is soft, about 6 minutes more. Knead the dough by hand in this step if you don't have a stand mixer.
Transfer the dough to a well-floured surface and knead it with your hands for an additional 1-2 minutes. Form the dough into a ball and transfer it to a lightly greased bowl. Cover the dough loosely with plastic wrap or a towel and let sit in a warm place until doubled in size, about 1 to 1½ hours. to 2 hours.
While the dough is rising, make the topping. Spray a 9x13 inch baking dish with nonstick spray. Spread pecans evenly in the bottom of the pan and set aside.
Combine the rest of the topping ingredients in a medium saucepan over medium heat. Stir using a wooden spoon or rubber spatula until the butter has melted. Bring to a boil and allow to boil for 3-4 minutes. Remove from heat and pour on top of pecans then set aside.
Once the dough has risen, turn it out onto a well-floured work surface and roll into a 12x18 inch rectangle using a rolling pin, making sure the dough is even.
Once rolled out, add the filling. Spread softened butter all over dough to the edges. Sprinkle evenly with the brown sugar and cinnamon then tightly roll up the dough to form an 18-inch-long log. Cut into 12 even rolls then arrange them cut-side-down in the prepared baking pan.
Cover the rolls with aluminum foil and allow to rise in a warm environment again for 30-40 minutes.
Once risen, preheat the oven to 375°F. Bake rolls for 25-30 minutes until they are golden brown. Cover rolls with aluminum foil if they begin to brown too much. Remove pan from the oven and allow to cool on a wire rack for 5 minutes.
Once cooled, turn the pan onto a large serving platter or cooling wrap.