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In the bowl of a stand mixer fitted with a dough hook, dissolve the sugar in warm milk. Sprinkle yeast over the top and let stand for 5 minutes until frothy.

Add eggs, butter, salt, and flour to the yeast mixture. Mix on low speed until combined, then on medium speed until the dough is smooth and elastic, about 5-7 minutes.

Place the dough in a greased bowl, cover, and let rise in a warm place until doubled in size, about 1 hour.

Make the Filling:

Combine brown sugar and cinnamon in a small bowl.

Roll out the dough on a lightly floured surface into a 16x21-inch rectangle.

Spread softened butter over the dough, and then sprinkle the cinnamon-sugar mixture evenly over the top.

Shape the Rolls:

Roll up the dough tightly from the long end, and cut into 12 even rolls using a sharp knife or dental floss.

Place rolls in a lightly greased 9x13 inch baking pan or individual muffin cups.

Prepare the Caramel:

In a small saucepan over medium heat, combine brown sugar, heavy cream, and butter. Bring to a boil and simmer for about 1 minute until thickened.

Remove from heat and stir in vanilla extract and salt.

Assemble and Bake:

Pour half of the caramel sauce into the bottom of the baking pan or muffin cups. Sprinkle with chopped pecans if using.

Place the rolls on top of the caramel and pecans.

Cover and let the rolls rise for about 30 minutes.

Preheat your oven to 350°F (175°C).

Bake the rolls for about 25-30 minutes, or until they are golden brown.