In a large bowl, combine the warm milk, active dry yeast, and 1 tablespoon of the granulated sugar. Let this sit for about 5 minutes until it becomes foamy and aromatic.

Add the remaining granulated sugar, melted butter, egg, salt, and 2 3/4 cups of flour. Mix until a soft dough starts to form, adding the remaining flour as needed.

Knead the dough on a lightly floured surface for 5 to 6 minutes until it’s smooth and elastic.

Place the dough into a greased bowl, cover it with a cloth, and let it rise in a warm environment for 20 minutes.

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

Roll the dough into a rectangle about 12 x 16 inches. Spread the softened butter across its surface, followed by an even sprinkling of the cinnamon-sugar mixture and chopped pecans.

Roll the dough up tightly from the long side into a log. Cut this log into 8 equal rolls and arrange them in a greased baking dish.

Cover the rolls and allow them to rise for 15 minutes while preheating your oven to 350°F.

Bake for 18 to 22 minutes or until they turn golden brown.

Whisk together the powdered sugar, vanilla extract, and just enough heavy cream or milk to achieve a smooth glaze. Drizzle this over the warm rolls.

Enjoy the cinnamon rolls immediately for the best experience.