In a saucepan, gently warm 1 cup of whole milk over low heat until lukewarm. Stir in ¼ cup of unsalted butter until melted, then cool slightly.

Combine the warm milk mixture with ¼ cup of granulated sugar, 2 large eggs, and 1 teaspoon of active dry yeast. Stir and let sit for 5 minutes.

In a large bowl, whisk together 4 cups of all-purpose flour and 1 teaspoon of salt. Pour in the yeast mixture and stir until just combined.

Knead the dough on a floured surface for 8-10 minutes until smooth and elastic.

Place the dough in a greased bowl, cover, and let it rise for about 1 hour.

Melt ½ cup of unsalted butter and 1 cup of packed brown sugar over medium heat until smooth and thick.

Pour the caramel mixture into a greased baking dish and sprinkle with ½ cup of chopped pecans if desired.

Roll the risen dough into a rectangle. Spread remaining melted butter and sprinkle with ¼ cup granulated sugar before rolling it up.

Roll tightly into a log and slice into 12 equal rolls. Place cut-side up in the baking dish.

Cover and let rise for another 30-45 minutes until puffed.

Preheat oven to 350°F and bake for 25-30 minutes until golden brown.

Cool in the pan for 10 minutes before flipping to serve.