Warm the milk in a large measuring cup to 110 degrees Fahrenheit and add 2 tablespoons of sugar. Give it a quick stir then add the yeast. Let it sit in a warm place until it becomes frothy (about 12 minutes)
In the bowl of a stand mixer, add flour, salt, 1/4 cup sugar, 2 eggs, yeast mixture, and melted butter. Set the speed to low, just for a few seconds, then add 1 tsp vanilla extract.
Using the hook attachment, set the speed to medium-high until all of the dough is combined. A good way to know the dough is done is when it no longer sticks to the sides of the mixer bowl.
Transfer the dough to a large greased bowl (I used olive oil) and cover with plastic wrap and let it sit in a warm palace for 1 hour. The dough will be soft and slightly sticky, that's what you want to see if you want super fluffy rolls.
Meanwhile, beat together 3/4 cup softened unsalted butter, 1 cup brown sugar, and 1 tbsp cinnamon using an electric mixer. This will be the filling.
Once the dough is done rising. Transfer to a lightly floured surface and roll it out to a 24 x 16-inch rectangle. Add a little flour on top as needed so the rolling pin doesn't stick to the dough.
Evenly spread the filling onto the dough. Chop the pecans and spread them on top of the filling. Roll up the dough into a log shape beginning with the longer side.
Slice the log into 2-inch pieces. You can either use a knife or thin thread. I prefer to use thread, as it gives a cleaner cut.
Line a 9x13 inch baking dish with greased parchment paper and place the rolls inside. Let the dough rise in a warm place one last time until the dough doubles in size (about 30 minutes depending on temperature). You may have a few extra pieces that won't fit into the baking dish, just place them in a loaf pan.
Bake at 350 degrees Fahrenheit for 20-25 minutes or until lightly browned.
While the rolls are baking, in a bowl blend cream cheese, 1/2 cup butter, powdered sugar, half & half, and 1 tsp vanilla.
Once the rolls are baked, generously spread the cream cheese spread on top.