Stir 1 cup sugar, butter and salt into warm milk until sugar is dissolved and butter is melted. Set aside to cool.
Stir yeast into warm water then add 2 tablespoons sugar. Set aside until a foamy layer forms on top of the liquid.
Place 3 cups flour and cinnamon in mixer bowel with dough hook attachment. Add milk and yeast mixture along with eggs. Beat on low until smooth. Add flour, half a cup at a time, until soft dough forms into a ball. Cover with plastic wrap and set the mixer bowl into a larger bowl containing very warm water. Cover with a clean towel and set aside to rise, about 1 hour. Dough will double in size during this time.
After rising is completed, preheat the oven to 350 degrees and turn dough out onto a large floured surface and roll out to form a rectangle approximately 15? x 20?. Spread on the soft butter the top with brown sugar and pecans.
Roll up dough into a log from the long side. Seal the edge with fingers to keep filling inside.
Slice into sections 2-3? long and place in a deep buttered cake pan at least 9? x 14?. Set cake pan aside to rise again, about 20 minutes.
After rising, set pan on a foil sheet to catch drips while baking. Bake at 350 degrees for 30-35 minutes.
While rolls bake, prepare the glaze. Combine the powdered sugar, butter and vanilla, then add milk a splash at a time until the right consistency is achieved.
Glaze the rolls immediately after baking and enjoy!