Start by warming up your milk. Pour milk into a microwave safe bowl and microwaving on High for 30-40 seconds. Your milk should feel like warm bath water, not too hot to the touch. Transfer your milk to a large mixing bowl, mix together with 1 teaspoon of sugar and then sprinkle the yeast on top.
Add in the remaining sugar, butter, vanilla, eggs and salt and once you have that all combined slowly start stirring in your flour.
If you have a stand mixer, grab your dough hook and mix dough on medium for about 7-8 minutes. Your dough should be a nice ball, not too sticky. If you do not have a stand mixer, turn your dough out onto a floured surface and kneed by hand for those 8 minutes.
Move your dough to a mixing bowl sprayed with nonstick spray, cover it with a tea towel and stash it away in the corner of your kitchen for the next 1 hour and 45 minutes to let that dough rise up again.
Once it does, transfer your dough to a flat floured work surface large enough to accommodate the dough rolling that is needed. Once you have the dough rolled out into approximately 15 x 10 rectangle, cover the dough with the butter and then sprinkle with brown sugar and cinnamon and lastly the pecans, leaving a 1/4 inch border clean at the far side of your dough.
Gently press the brown sugar and pecans into the butter and then gently roll that all up into a tight tube. Cut into 1-inch slices with a sharp knife and move to a buttered 9 x 13 baking pan. Cover with plastic wrap and let rise again for 30-40 minutes.
Preheat the oven to 350 degrees. Bake the pecan cinnamon buns for approximately 25 to 30 minutes until the roles are just lightly browned and then remove from the oven. Let cool for 5-10 minutes.
While your cinnamon rolls are cooling, mix together the cream cheese, butter, vanilla, salt and powdered sugar and I usually add in 1 to 2 tablespoons of milk until I reach the consistency that I like then glaze your cinnamon rolls.