• Lightly butter a 9x13" baking pan. Set aside.

Dough

• Heat milk and butter in a small saucepan until very hot. Cool to lukewarm. Using an electric mixer, mix milk mixture and yeast. Add flour, sugar, eggs, and salt. Beat on low speed for about 5 minutes, until a shaggy dough forms. Switch to dough hook; mix on low speed about 7 minutes longer.
• Transfer dough into an oiled bowl, turning to coat. Cover and let rise for about 1 hour.

Filling

• Stir the butter, brown sugar, cinnamon, and salt until combined. Turn out risen dough onto floured surface and divide in half. Roll each half into a 12x8" rectangle. Spread half the butter mixture and sprinkle half the pecans on each piece of dough.
• Roll up each rectangle, starting with the long end. Pinch seams to seal. Cut each piece into 9-10 slices. Place slices cut side down into buttered pain. Cover and let rise until nearly doubled, about 45 minutes.

Glaze

• Whisk confectioner's sugar, melted butter, cream cheese, and vanilla until smooth, adding milk a teaspoon at a time to desired consistency.

• Heat over to 350F. Bake cinnamon rolls for 20-25 minutes until golden brown. Let cool before drizzling with glaze.