Add the warm milk (105–110°F/41–43°C), sugar, and yeast to the bowl of a stand mixer. Stir and let stand for 5–10 minutes, until foamy.
Whisk the flour and salt together in a separate bowl. Add the flour mixture, eggs, and butter to the yeast mixture and mix with the dough hook on low until a shaggy dough forms.
Knead on low speed for 6 minutes, until smooth and elastic. If needed, add additional flour 1 tablespoon at a time.
Place the dough in a lightly greased bowl, cover, and let rise until doubled, about 1 hour.
Turn the dough onto a lightly floured surface and shape it into a 12-by-18-inch rectangle.
Fill and shape the rolls:
Spread the butter evenly over the dough, leaving a 1/2-inch border. Combine the brown sugar and cinnamon and sprinkle evenly over the butter.
Starting at an 18-inch side, roll the dough tightly into a log. Cut into 12 equal rolls.
Make the topping and bake:
Bring the butter, brown sugar, maple syrup, and salt to a boil in a medium saucepan. Reduce the heat and simmer for 2 minutes. Remove from the heat and stir in the vanilla.
Spread the topping in a well-greased 10-inch cast iron skillet and distribute the pecans over it. Arrange the rolls over the pecans.
Cover and let rise until puffy, about 1 hour. Toward the end of the rise, preheat the oven to 350°F/177°C.
Bake for 30–35 minutes, until golden brown. Do not overbake.
Let the rolls rest in the skillet for 20 minutes, then carefully invert them onto a wire rack.
Notes
Assemble the pecan rolls completely and refrigerate them before the final rise for an easy make-ahead option. The cold dough will require additional rising time before baking.
Leftover pecan rolls keep in an airtight container at room temperature for up to 2 days or in the refrigerator for up to 5 days.
Completely cooled pecan rolls can be frozen in an airtight freezer-safe container for up to 3 months. Thaw overnight in the refrigerator or for a few hours at room temperature.
Pecan rolls are best served slightly warm, when the maple pecan topping is soft and sticky.