In the bowl of a stand mixer, stir together the warm milk, ¼ cup (50g) sugar and the yeast. Cover and set aside for 5-7 minutes or until foamy.

Once the yeast is foamy, add the melted butter, egg, egg yolks, vanilla, and remaining ¼ cup (50g) sugar to the yeast and whisk together. Add half the flour (2 cups/240g) and whisk to combine.

Add the remaining 2 cups of flour and attach the dough hook. If desired, add in the orange zest as well. Mix on medium speed for about 5 minutes or until the dough comes together. (The dough should feel moist and sticky, but you can add a bit of flour if it seems wet.) Transfer dough to a floured surface and knead until it’s smooth and elastic, about 2 minutes. The dough should bounce back when pressed with a finger.

Place the dough in a lightly buttered bowl, then cover with plastic and place in a warm place to rise for 1½ to 2 hours, until doubled in size.

While the dough rises, prepare the topping. Lightly grease a 9x13-inch baking pan with butter.

In a small saucepan, combine the butter, brown sugar, honey, and salt. Cook over medium-low heat, stirring occasionally, until the butter is melted and the sugar has dissolved, about 5 minutes. Immediately pour the topping into the prepared pan. Sprinkle the chopped pecans evenly over top.

Once the dough has risen, transfer it to a floured surface (I like to use a pastry mat), then gently spread it out into a rectangular shape that’s roughly 12x18 inches. (If needed, use a rolling pin to spread and level the dough.)

In a medium bowl, combine brown sugar and cinnamon, then whisk together. Brush the dough with melted butter, then sprinkle the cinnamon sugar evenly over the top, spreading it into an even layer with your hand, if needed.

Starting at the long end closest to you, roll up the dough towards the other long end, forming a tight log. Cut into 12 equal pieces, (about 1½ inches wide) using unflavored dental floss or a sharp serrated knife.

Place the rolls cut side down and evenly spaced apart in the prepared baking dish on top of the pecan mixture. Loosely cover the dish and let the rolls rise in a warm place until almost doubled in size, about 1 hour.

After the dough has risen for 40 minutes, preheat the oven to 375°F. Bake for about 35 minutes or until golden or until golden brown, tenting with foil after 15 minutes to prevent the tops from taking on too much color.

Allow to cool in the pan for 2 to 3 minutes just until the edges stop bubbling, then run a knife along the edge of the pan and invert onto a serving dish and serve warm.