1. In a small bowl, combine the warm milk, yeast, and a teaspoon of the granulated sugar. Let it sit for 5 to 10 minutes until foamy.

2. In a large mixing bowl, combine the flour, remaining granulated sugar, salt, eggs, and softened butter. Pour in the yeast mixture and mix until a soft dough forms.

3. Knead the dough for 8 to 10 minutes until smooth and elastic. Place it in a greased bowl, cover, and let it rise for 1 to 1 1/2 hours or until doubled in size.

4. In a small bowl, mix the brown sugar and cinnamon for the filling.

5. In another bowl, stir together the melted butter, brown sugar, vanilla extract, heavy cream, and pecans for the topping. Spread this mixture evenly in the bottom of a greased 9×13-inch baking dish.

6. Roll the dough into a large rectangle on a lightly floured surface. Spread the softened butter for the filling over the dough, then sprinkle the cinnamon sugar mixture evenly on top.

7. Roll the dough up tightly from the long side into a log, then slice into 12 even rolls.

8. Arrange the rolls over the pecan topping in the baking dish. Cover and let them rise again for 30 to 45 minutes until puffy.

9. Bake at 350°F for 25 to 30 minutes until golden brown and cooked through.

10. Let the rolls cool in the pan for 5 minutes, then carefully invert onto a serving tray so the pecan topping is on top. Serve warm.