1-Combine yeast: Combine yeast with 1 ½ cups warm milk and ½ teaspoon white sugar; let sit for 5 minutes until frothy.

2-In a stand mixer: In a stand mixer, mix 3 ½ cups all-purpose flour, 1 teaspoon salt, and ¼ cup white sugar.

3-Pour in the yeast mixture: Pour in the yeast mixture and knead with a dough hook.

4-Add 4 tablespoons softened butter: Add 4 tablespoons softened butter, 1 tablespoon at a time.

5-Knead on low speed: Knead on low speed for 5 minutes.

6-Form the dough into a ball: Form the dough into a ball, place it in a bowl, cover, and let rise in a warm spot for 30 minutes or until doubled in size.

7-Roll the dough: Roll the dough on a floured surface into a 10×20 inch rectangle.

8-Spread 4 tablespoons melted butter: Spread 4 tablespoons melted butter over the dough and sprinkle with ½ cup brown sugar, ½ cup white sugar, and 2 teaspoons cinnamon.

9-Roll the dough tightly: Roll the dough tightly and cut into 8 pieces (or 12 smaller rolls).

10-In a saucepan: Melt 8 tablespoons butter, add 1 cup brown sugar, ½ teaspoon vanilla, ¼ teaspoon cinnamon, ¼ cup heavy cream, and a pinch of salt; bring to a low boil and whisk until the sugar dissolves.

11-Grease a 9×12 baking pan: Grease a 9×12 baking pan with butter, pour the caramel sauce into the pan, and sprinkle with 1 cup chopped pecans.

12-Place the rolls: Place the rolls into the caramel pecan sauce, cover, and let rise for 30 minutes or more in a warm place.

13-Preheat the oven: Preheat the oven to 350 degrees Fahrenheit.

14-Bake the rolls: Bake the rolls for 25-30 minutes or until no longer doughy in the center.

15-Let rest: Let rest for 15 minutes, then invert the pan carefully onto a parchment-lined surface to pour the sauce over the buns.

16-Serve and enjoy: Serve and enjoy.