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. Add the foamy yeast mixture.

Gradually add flour, cinnamon, and salt until a dough forms. Knead for about 5 minutes until smooth.

Place the dough in a greased bowl, cover with a clean cloth, and let it rise for about 1 hour until doubled in size.

Preheat your oven to 350°F (175°C).

Roll the dough into a rectangle, spread softened butter, and sprinkle brown sugar, cinnamon, and pecans on top.

Carefully roll the dough tightly to form a log and cut into individual buns.

Place buns in a greased baking dish, cover, and let them rise for another 30 minutes.

Bake in the preheated oven for 25-30 minutes until golden brown.

Mix powdered sugar and milk until smooth for icing. Drizzle over warm buns before serving.