Whisk together the milk (warmed to about 100°F), 2 tbsp of sugar, and yeast in a large bowl. Cover with a hand towel and allow to sit for 5 minutes or until foamy on top. You can also use a standing mixer with the paddle attachment for this step and step 2. 

Switching to a wooden spoon, beat in the remaining sugar for the dough and the butter until the butter starts to break up. Add the eggs and salt and mix until combined.The butter will not incorporate well, do not panic. 

Add 1 c of flour at a time, mixing until it's fully incorporated before adding the next cup. Once all the flour has been added, mix until the dough comes together and begins to pull away from the sides of the bowl. If it does not pull away, you can add more flour 1 tbsp at a time until the dough is able to be kneaded.

Continue mixing in mixer for 5 more minutes or knead the dough by hand on a floured surface for 5 minutes. After kneading, it should feel smooth and elastic. 

Grease a large bowl with nonstick spray and place the dough inside. Turn the door so it is coated in the oil on all sides. Cover with towel and allow dough to rise until it doubles in size, about 2 hours. 

While the dough rises, grease the bottom and sides of a 9 x 13 pan. 

Spread chopped pecans evenly on the bottom of the pan and set aside. 

In a small saucepan, combine all the other topping ingredients and place over medium heat. 

Stir until butter has melted, then bring the mixture to a simmer. Simmer for 2 minutes, stirring occasionally. 

Remove from heat, whisk quickly, and pour over the pecans in the pan. Set aside.

Working the dough again, press it down to remove the air. 

Place dough on a floured surface and roll into a 12 x 18 rectangle. Make sure the dough is smooth and even. If it shrinks back while you roll, cover it and allow it to rest for 10 minutes before trying again.

Once the dough is rolled out, spread the butter for the filling over the top. 

In a small bowl, mix the sugar and cinnamon together. Sprinkle the mixture over the butter and roll the dough up tightly to form an 18" log. If some of the cinnamon sugar mixture spills out, sprinkle it on top. 

With a sharp knife, cut into 12 pc - about 1-1/2" side. Arrange rolls in the baking pan on top of the pecans. 

Cover the pan with your towel and allow to rise until puffy, about 30-45 minutes.

Preheat oven to 350°F. 

Bake rolls in the oven for 25-28 minutes, or until the rolls are golden brown on top. About halfway through baking, tine a piece of aluminum foil on top of the pan to prevent the tops from browning too much. 

Remove from oven and place pan on a wire rack. Cool for 5 minutes.

Invert the pan onto a serving platter while still warm and before serving.