Prepare the Dough: In a large mixing bowl, combine 2 cups of flour, instant yeast, granulated sugar, and salt. Mix well. In another bowl, whisk the warmed milk, melted butter, eggs, and vanilla extract until combined. Pour the wet ingredients into the dry ingredients and stir until combined.
Knead the Dough: Gradually add the remaining flour, ½ cup at a time. Knead the dough on a floured surface for about 5-7 minutes, until the dough is smooth and elastic. Place the dough in a greased bowl, cover with a kitchen towel, and let it rise in a warm area for about 1 hour or until doubled in size.
Prepare the Caramel Topping: In a saucepan over medium heat, combine the softened butter and brown sugar, stirring until melted and bubbly. Remove from heat and pour the mixture evenly into the bottom of a greased 9x13 inch pan. Sprinkle the chopped pecans over the caramel mixture.
Roll Out the Dough: Once the dough has risen, punch it down and roll it out on a floured surface into a large rectangle (about 16x12 inches). Spread a thin layer of softened butter over the dough and sprinkle with cinnamon and additional granulated sugar, if desired.
Shape the Rolls: Starting from the long edge, tightly roll the dough into a log. Cut the log into 12 equal pieces and place them cut-side down in the prepared pan over the caramel and pecans.
Second Rise: Cover the pan with a kitchen towel and let the rolls rise again for about 30-45 minutes until they puff up.
Bake: Preheat your oven to 350°F (175°C). Bake the rolls for 25-30 minutes, or until golden brown.
Invert and Serve: Remove the rolls from the oven and let them cool for 5 minutes. Carefully invert the rolls onto a serving platter while the caramel is still warm to ensure they come out easily.
Enjoy: Serve warm, drizzled with any remaining caramel from the bottom of the pan. Enjoy these sticky, sweet rolls fresh!