In a small bowl, combine warm milk and sugar. Sprinkle yeast and let sit 5–10 minutes until foamy.

In a large bowl, combine flour and salt. Add melted butter, egg, vanilla, and yeast mixture. Mix into soft dough.

Knead dough 8–10 minutes until smooth and elastic. Place in greased bowl, cover, and rise 1–2 hours.

Prepare caramel: melt butter and brown sugar in saucepan, stir in cream, vanilla, and salt. Pour half into greased 9x13 pan.

Roll dough into 12x16 rectangle. Spread softened butter, sprinkle brown sugar and cinnamon.

Roll dough tightly, cut into 12 pieces. Place cut-side down over caramel.

Cover and let rise 30–45 minutes. Preheat oven 350°F (175°C).

Bake 25–30 minutes until golden. Drizzle remaining caramel on top and sprinkle pecans if desired.

Cool 5–10 minutes before serving.