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In a large bowl, put the warm milk, sugar, and yeast and let it sit for 5-10 minutes.
Mix in the egg and melted butter.
Add the salt and flour and mix for a minute, then let it sit.
Mix for 5-7 minutes until the dough is smooth and soft. If the dough is too sticky, add more flour ¼ cup at a time until it feels like playdough.
Knead the dough a few more times with oiled hands and allow it to rest in a warm area covered with a warm towel for 1 hour.
In a bowl, mix the ½ cup room temperature butter, cinnamon, and 1 cup brown sugar until combined. Set aside.
In a small pot, add the 1 cup brown sugar, ½ cup butter, 1 cup pecans, and ¼ cup heavy whipping cream. Mix until it boils, then remove from heat and let cool.
Once the dough has risen, flour a surface and roll the dough into a large rectangle.
Spread the cinnamon-sugar mixture over the dough, then sprinkle the pecans on top.
Roll up the dough and cut into 2-inch thick slices.
Pour the caramel pecan mixture into a 9x13 baking dish, then place the cinnamon roll slices on top.
Let the rolls rise for 30 minutes, then pour some warm heavy whipping cream over the top.
Preheat the oven to 450°F and bake for 18-25 minutes until golden brown.
Remove from the oven and let rest for at least 15 minutes, then flip the pan over to serve.