In a small bowl, mix the yeast, warm water and 1 teaspoon sugar. Cover with clingfilm and set aside for a 5 to 10 minutes until the yeast has dissolved and the mixture is frothy.
To make the dough first combine the remaining 2 tablespoons sugar, butter, salt and milk in the bowl of a stand mixer fitted with a dough hook. You can also do this by hand in a mixing bowl.
Pour in the yeast mixture and stir to combine. Now add 3 cups of flour and knead on low speed for 3 to 4 minutes. If the dough seems sticky, add up to an extra half cup of flour, but depending on how warm it is in your kitchen, you may or may not need it, so add it slowly and stop when the dough begins to look soft and pliable.
When the dough leaves the sides of the bowl and begins to form a ball, knead it a few times with your hands. It should spring back slowly when poked with a finger and this is when you know it's ready to rise. Kneading entirely by hand may take a little longer but it's absolutely doable.
Form the dough into a ball and place in a lightly oiled bowl (I just use the mixing bowl). Cover with clingfilm and leave to rise in a warm area for 1 to 2 hours, until doubled.
In the meantime make the topping. Coarsely chop the pecans and spread them out in an even layer in a lightly greased, 8 inch square baking pan. Combine the remaining topping ingredients in a small saucepan and set it on low heat. Stir frequently until the butter has melted and allow the sauce to boil for 3 to 4 minutes. Pour immediately over the pecans. Set aside to cool.
Now punch down the puffed dough and lightly flour your kitchen counter or a silicone mat which is more convenient for clean-up. Place the dough on it and roll or pat it into a 10x12 inch rectangle, making sure it's the same thickness all around.
Now make the cinnamon sugar filling. In a small bowl, combine the cinnamon and sugar. Spread the butter onto the rolled out dough, making sure it reaches every inch of it. Sprinkle on the cinnamon sugar, covering the dough entirely.
Starting at the shorter end, slowly roll the dough up tightly. Slice into 9 even pieces.
Place each roll, cut side up over the pecans and caramel. It will look like there's some extra space left over but it will get covered once the dough rises again. Cover with clingfilm and let rise again for 30 minutes to 1 hour, until puffy.
Preheat the oven to 190 C, then remove the clingfilm from the dish.
Bake the rolls for 20 to 25 minutes or until they are browned on top, have risen and smell amaaazing! If they seem to be browning too quickly, lower the temperature to 175 C.
Allow the rolls to cool in the pan for 10 minutes, then invert the pan using oven mitts, onto a large tray or platter. The caramel and pecans will drip down the sides a bit and any sauce that may pool around the edges will thicken as it cools.
The rolls are best enjoyed fresh and warm but can be stored in the fridge for 4 to 5 days, reheating as needed. Happy baking!