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In a bowl, dissolve yeast in warm milk and let it sit for about 5 minutes until it foams.
Add sugar, butter, eggs, salt, and flour. Mix until the dough comes together.
Knead the dough on a floured surface until smooth, then place in a greased bowl and cover to let it rise for about 1 hour.
Roll out the dough into a rectangle, spread softened butter, brown sugar, and cinnamon on top.
Roll up the dough and cut into rolls, placing them in a greased baking dish.
In a saucepan, melt butter for the topping, then add brown sugar, heavy cream, and pecans. Pour over the rolls.
Let the rolls rise again before baking in a preheated oven at 350°F for about 30-35 minutes.
Enjoy warm!