Warm milk in a small saucepan until it reaches about 110?F (43?C). In a large mixing bowl, combine warm milk, yeast, and granulated sugar; let sit until foamy (about 5 minutes).

Add flour and salt to the yeast mixture. Mix until combined. Pour in melted butter and knead until a soft dough forms.

Place dough in a greased bowl, cover, and let rise in a warm area for about 1 hour or until doubled in size.

In a saucepan over medium heat, combine brown sugar, corn syrup, melted butter, and chopped pecans; stir until melted and well combined.

Roll out the risen dough on a floured surface into a rectangle. Spread melted butter on top and sprinkle with brown sugar and cinnamon. Roll tightly into a log and slice into twelve equal pieces.

Place slices cut-side down in the baking dish with caramel topping at the bottom. Cover and let rise while preheating oven to 350?F (175?C). Bake for about 30 minutes or until golden brown.