Heat the milk in a saucepan over medium heat, until it very slightly begins to boil. Remove from heat and let stand until it is cooled and at room temperature.
While the milk is cooling, sprinkle the yeast over the warm water in a large bowl. Add 1 tablespoon of the sugar and let stand until foamy, about 5 minutes. Beat in the remaining 2 tablespoons sugar, eggs, and butter. Beat in cooled milk.
Add the flour and salt a little at the time, scraping down the sides of the bowl, until a soft dough forms. Dump the dough onto a floured work surface and knead the remaining flour into the dough. Add more flour if the dough is too sticky. Knead for about 10 minutes until smooth. The dough should be soft after kneading.
Place the dough in a large greased bowl (grease with butter or a few drops of vegetable oil). Cover the dough with plastic wrap and place in a warm spot until doubled in size, about 1½ hours.
Coat two 9-inch round baking pans with butter or nonstick cooking spray. Line bottoms with parchment paper, then coat paper with spray the paper.
Mix butter, both sugars, and cinnamon together in a medium-size bowl.
Punch down dough. Next, roll out dough on a lightly floured surface to an 18 x 12-inch rectangle. Spread the butter-sugar mixture over the dough, then sprinkle with the pecans.
Start on one long edge of the dough rolling up like you would a jelly roll. Pinch seam to close.
Cut crosswise into 14 generous 1-inch pieces.
Arrange 7 pieces, cut-side down, in each prepared pan.
Cover with plastic wrap and let sit in a warm spot until buns double in size, about 30 to 45 minutes. Or cover tightly with plastic wrap and refrigerate until the following morning.
Heat oven to 350 degrees F. Uncover pans and bake buns until they are golden brown and bubbly, 30 to 40 minutes. Transfer to a wire rack and let cool 10 minutes.
Mix confectioners sugar and 1 tablespoon of the milk, adding more milk as necessary, to make a smooth glaze. Invert buns onto a serving platter. Drizzle glaze on top of buns (about a ⅓ cup per pan). Serve warm.
Instead of using a sugar glaze, you could also use caramel sauce. Get a delicious recipe for Caramel Sauce HERE!Recipe adapted from Family Circle Magazine.
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