Warm the milk to 110°F then mix in half the sugar and the yeast. Cover and set aside for 5-7 minutes or until foaming.
While the yeast wakes up, melt butter in a bowl then whisk in the egg, yolks, yanilla, and remaining sugar then set aside.
Add the both mixtures to the bowl of your stand mixer and whisk together then add half the flour and mix until combined. Add the remaining flour and mix on medium speed using a dough hook for about 5 minutes or until the dough comes together. Transfer dough to a floured surface and knead until it’s smooth and elastic. Dough should bounce back when pressed. This is a sticky dough but you can add a bit of flour if it seems wet.
Place dough in a lightly buttered bowl then cover with plastic and place in a warm place to rise. Dough will take about two hours to double in size.
While the dough rises, make the topping by combining the brown sugar, honey, butter and salt in a small pot. Place over low heat and stir until butter and sugar have melted. Pour into a 9x13 pan that you’ve lightly buttered and top with roughly chopped pecans then set aside.
Preheat oven to 375°F. Once the dough has risen transfer it onto a floured surface (I like to use a pastry mat) then gently spread it out into a rectangular shape that’s roughly 12x18 inches. Roll as needed to spread and level the dough.
In a medium bowl combine brown sugar, and cinnamon then whisk together. Brush with 4 tbsp melted butter then sprinkle the cinnamon sugar evenly over the top. You can use your hand to smooth the sugar out into an even layer if needed.
Gently roll the long edge of the dough into a tight roll. Cut into 12-13 even pieces then place into your prepared baking dish. See notes for cutting tips. Bake for about 35 minutes or until golden. Cover with foil after 15 minutes to prevent the tops from taking on too much color.
Allow to cool for a few minutes then run a knife along the edge and invert onto a serving dish and serve warm.