Combine warm milk, yeast, and a tablespoon of sugar. Let sit until foamy.

Mix in remaining sugar, eggs, melted butter, vanilla, salt, and flour until dough forms.

Knead dough until smooth and elastic, then let rise until doubled.

Prepare caramel topping by melting butter with brown sugar, maple syrup, cream, vanilla, and salt.

Pour caramel into greased baking dish and top with pecans.

Roll dough into rectangle, spread with butter, and sprinkle with cinnamon sugar filling.

Roll tightly into log and cut into 12 buns.

Arrange buns in baking dish and let rise again until puffy.

Bake at 350°F for 30–35 minutes until golden brown.

Cool slightly, invert onto serving tray, and serve warm.