In a small bowl, combine warm milk and yeast. Let it sit for about 5 minutes until foamy.
In a large bowl, mix the softened butter, brown sugar, granulated sugar, egg, and vanilla extract until combined.
Add in the foamy yeast mixture from the first step.
Gradually add flour, cinnamon, and salt to the wet mixture until a dough forms.
Knead the dough for about 5 minutes until it feels smooth and elastic.
Place the dough in a greased bowl, cover it with a clean cloth, and let it rise for about 1 hour.
Preheat the oven to 350°F (175°C).
Filling and Baking
Once the dough has risen, roll it out into a rectangle shape.
Spread some softened butter over the dough, then sprinkle brown sugar, cinnamon, and chopped pecans evenly across the top.
Carefully roll the dough tightly starting from one end to form a log.
Cut the rolled dough into individual buns.
Place the buns in a greased baking dish, cover them again, and let them rise for another 30 minutes.
Bake in the preheated oven for 25-30 minutes until they are golden brown on top.
Icing
While the buns are cooling, mix powdered sugar and a tablespoon of milk until smooth.
Drizzle the icing over the warm buns before serving.
Notes
Store at room temperature in an airtight container for 2-3 days, refrigerate for up to a week, or freeze for up to 3 months. Reheat before serving for best taste.