In a large mixing bowl, whisk together 2 cups of flour, instant yeast, granulated sugar, and salt until thoroughly combined. In a separate bowl, mix the warmed milk, melted butter (that has cooled slightly), eggs, and vanilla extract until well blended. Pour the wet mixture into the dry ingredients and stir until just combined, forming a shaggy dough.
Gradually add the remaining flour, about ½ cup at a time, kneading the dough on a lightly floured surface for approximately 5-7 minutes. The dough should become smooth and elastic to the touch. Once kneaded, transfer the dough to a greased bowl, cover it with a kitchen towel, and place it in a warm spot to rise for about 1 hour, or until it has doubled in size.
In a medium saucepan over medium heat, combine the softened butter and brown sugar, continually stirring until the mixture is melted and bubbling. Remove from heat and pour the hot caramel mixture evenly into the bottom of a greased 9x13 inch pan. Evenly sprinkle the chopped pecans over the caramel.
After the dough has risen, gently punch it down to release the air. On a floured surface, roll the dough out into a large rectangle measuring approximately 16x12 inches. Spread a thin layer of softened butter over the entire surface of the dough, then evenly sprinkle ground cinnamon and an extra touch of granulated sugar on top if desired.
Beginning at the long edge of the rectangle, tightly roll the dough into a log. Use a sharp knife or dough cutter to slice the log into 12 equal pieces. Carefully arrange the cut rolls, spiral side down, in the prepared pan over the caramel and pecans.
Cover the pan with a kitchen towel or plastic wrap, allowing the rolls to rise again in a warm area for about 30-45 minutes, or until they are puffy and almost doubled in size.
Preheat your oven to 350°F (175°C). Bake the rolls in the preheated oven for 25-30 minutes, or until they are a rich golden brown and the caramel is bubbling.
After baking, remove the rolls from the oven and let them cool in the pan for about 5 minutes. Carefully invert the pan onto a serving platter while the caramel is still warm, allowing the rolls to slide out easily.
Serve the sticky rolls warm, drizzled with any remaining caramel that collects in the bottom of the pan. Savor the sweet, gooey delight of these caramel pecan rolls fresh out of the oven!
Notes
For an impressive display, garnish the serving platter with whole pecans or a dusting of powdered sugar for a touch of elegance.