Place warm milk into the bowl of a stand mixer and sprinkle yeast on top. Add sugar, eggs and melted butter. Mix until well combined. With a wooden spoon, stir in flour to form a dough.
Place dough hook on stand mixer and knead dough on medium speed for 8 minutes. Dough will form into a ball.
Lightly oil a large bowl and transfer dough, cover with cling film and a clean cloth and allow dough to rise until doubled in size for approx. 90 minutes.
Once risen, transfer dough to a well-floured surface and roll out into a 33 x 23cm rectangle. Spread the softened butter on dough surface edge to edge.
In a small bowl, mix together the brown sugar and cinnamon. Use your hands to sprinkle and massage the sugar into the layer of butter on dough surface.
Tightly roll up the dough from the longest edge and place seam side down to secure the contents. Cut the edges off on either side of the roll, 1cm from each end to keep the scrolls uniform when baking. With a serrated knife, cut the roll into 12 even pieces.
For the Caramel Pecan topping- In a small saucepan, combine the butter, brown sugar, maple syrup and vanilla over medium heat until melted and smooth. Remove from heat and whisk in cream.
Grease a 23 x 33cm baking tray with butter. Pour the caramel sauce into the tray evenly coating the bottom of the tray. Sprinkle pecans evenly over the top of the caramel sauce.
Second Rise- Arrange the rolls on top of the caramel and pecans, cut side up. Cover with cling film and a clean cloth and allow to rise again for 30-40 minutes.
While the second rise is happening, preheat oven to 190°C. Remove cling film and cloth and bake for 20-25 minutes until golden. rnRemove from oven and allow to cool for 5-10 minutes, then carefully invert the baking tray onto a serving dish and serve.
Add some diced cooked apple to the middle before rolling up the dough for a delicious caramel apple flavour.