In a large mixing bowl, mix together the all-purpose flour, granulated sugar, instant yeast, and salt, ensuring that all dry ingredients are well combined.
Gradually pour in the warm milk and melted butter into the dry mixture, stirring continuously until a soft dough starts to come together.
Transfer the dough onto a floured countertop and knead for approximately 5 minutes, or until the surface is smooth and elastic.
Shape the kneaded dough into a ball and place it into a greased bowl. Cover it with a damp cloth and set it in a warm location to rise for about 1 hour, or until it has doubled in size.
Preheat your oven to 350°F (175°C) to prepare for baking.
Once the dough has risen, roll it out on a lightly floured surface into a rectangle approximately 1/4 inch thick.
In a small bowl, combine the brown sugar and ground cinnamon. Evenly sprinkle this mixture over the rolled-out dough.
Evenly distribute the chopped pecans over the cinnamon-sugar layer, ensuring they are well spread out.
Starting from the long side, tightly roll the dough into a log shape, pinching the seam to secure it. Using a sharp knife, cut the log into 8 equal slices.
In a greased baking dish, pour the caramel sauce evenly over the bottom. Arrange the cinnamon roll slices on top of the caramel, spacing them apart for even baking.
Cover the dish with plastic wrap and allow the rolls to rise again in a warm area for another 30 minutes.
Once they have risen, place the baking dish in the preheated oven and bake for 25-30 minutes, or until the rolls are golden brown and puffed up.
Remove the rolls from the oven and let them cool in the dish for a few minutes.
In a small bowl, whisk together the powdered sugar and 1 tablespoon of milk until smooth to create a glaze. Drizzle this glaze over the warm rolls just before serving.
Notes
Serve warm with additional caramel sauce and garnish with whole pecans.