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For the filling:
¼ cup unsalted butter, at room temperature
½ cup packed dark brown sugar
2 teaspoons ground cinnamon
For the topping:
¾ cup firmly packed light brown sugar
¼ cup unsalted butter
¼ cup honey or maple syrup
1 ½ cups chopped pecans
Directions
To make the dough, in a large mixing bowl or the bowl of a stand mixer, combine the milk with the yeast and sugar. Let stand for about 10 minutes, until the mixture is foamy.
Add the butter and beat for about 30 seconds. Add the eggs, one at a time, beating after each addition to incorporate. Add the salt and beat briefly to incorporate.
With the mixer running on low speed, add the flour in several batches, beating after each to incorporate. Turn the mixer to medium and continue to beat for a few minutes more until the mixture becomes a soft dough. Raise the speed to medium-high and beat for another 5 to 7 minutes, until the dough is very soft and supple.
Turn the dough out onto a lightly floured surface and knead it for 1 minute and form it into a ball. Place the dough ball into a bowl that has been lightly coated with oil. Cover loosely with a dish towel and set it in a warm, draft-free place to rise for 1 to 2 hours until it doubles in size.
Make the topping. In a medium saucepan over low heat, combine brown sugar, butter, and maple syrup. Cook, stirring until the honey and butter are melted and well combined. Pour the mixture into the prepared baking pan and sprinkle the chopped pecans over the top.
Once the dough is finished rising, roll it out on a lightly floured work surface to a 12-by-18-inch rectangle.
Prepare the filling by melting the butter and then combining the sugar and cinnamon in a separate bowl. Brush the melted butter over the top of the dough and then sprinkle the brown sugar-and-cinnamon mixture over the top.
Starting on one of the long sides, roll the dough up into a tight cylinder. Cut crosswise into 12 pieces, each about 1 ½ inches wide. Arrange the rolls, cut side down, in the prepared baking dish (on top of the topping mixture).
Cover, and let rise for another 45 minutes or so.
About 15 minutes before the end of the second rise, preheat the oven to 375º Fahrenheit.
Bake the rolls until they are golden brown, 20 to 25 minutes. Remove from the oven and set the pan on a wire rack. Let cool for about 5 minutes before inverting onto a serving platter.
Serve warm or at room temperature.
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