In a mixing bowl, combine the warm milk and yeast. Let it sit for about 5 minutes until it's frothy; this means the yeast is awake and ready to party!

Whisk together the flour, granulated sugar, and salt in another large bowl.

Add the yeast mixture, softened butter, eggs, and vanilla extract to the dry ingredients. If you have a stand mixer, use the dough hook attachment to knead the dough for about 5-7 minutes. If you're going by hand, knead the dough on a floured surface until it becomes smooth and elastic.

Form the dough into a ball and place it in a lightly greased bowl. Cover it with plastic wrap and let it rise for about 1 hour or until it has doubled in size.

Punch down the dough (yes, that's as fun as it sounds) and roll it out on a floured surface into a 16x20-inch rectangle.

Spread the softened butter evenly over the dough, leaving a small border around the edges.

In a separate bowl, mix together the brown sugar and cinnamon. Sprinkle this mixture generously over the buttered dough.

Sprinkle the chopped pecans evenly on top of the cinnamon-sugar mixture. It's the pecan party!

Starting from the long edge, tightly roll up the dough into a log. Cut it into 12 equal slices. Use a sharp knife or dental floss for a clean cut.

Place the rolls in a greased 9x13-inch baking dish. Cover them with a clean kitchen towel and let them rise for another 30 minutes.

Preheat your oven to 350°F (175°C).

Once the rolls have risen again, bake them in the preheated oven for 25-30 minutes, or until they turn a golden brown and your kitchen smells heavenly.

While the rolls are cooling slightly, prepare the glaze. In a bowl, whisk together the powdered sugar, milk, and vanilla extract until smooth.

Drizzle the glaze generously over the warm cinnamon rolls. Let it drip down the sides for that mouthwatering effect!