1-First, grease a 9×13-inch metal baking pan and set it aside. Heat the milk, 3 tablespoons granulated sugar, and 1/3 cup butter over low heat until the butter melts and the sugar dissolves, then cool to about 100-105°F. Transfer to a mixing bowl, add 3 1/2 teaspoons instant yeast and 3/4 cup warm water, then mix in 2 cups all-purpose flour and 1/2 teaspoon salt on low speed for about 1 minute.

2-Gradually add the remaining 1 cup all-purpose flour (1/2 cup at a time) while mixing, then knead on low speed for about 2 minutes until the dough is smooth and elastic but slightly sticky. Place the dough in a greased bowl, turn to coat the top, cover, and let it rise in a warm, draft-free place for about 10 minutes. For the topping, whisk 6 tablespoons melted butter, 1/2 cup packed brown sugar, 1/4 cup granulated sugar, 1/4 cup dark corn syrup, and 1/4 teaspoon salt until smooth, then add 2 tablespoons water and whisk to combine.

3-Pour the mixture into the prepared pan, tilting as needed to cover the bottom, and sprinkle with 1 cup coarsely chopped pecans if desired. Roll the risen dough on a floured surface into a 12×16-inch rectangle. Mix the filling ingredients 3/4 cup packed brown sugar, 1/4 cup granulated sugar, 1 tablespoon cinnamon, and 1/4 cup softened butter and spread it over the dough, pressing gently to adhere.

4-Roll the dough lengthwise and pinch the seam to seal. Cut into 12 pieces using a serrated knife or unflavored dental floss. Place the rolls cut-side down over the topping in the pan, cover, and let them rise for 15 minutes while preheating the oven to 350°F. Bake for 20-25 minutes until golden brown, then tent with foil and bake for an additional 10-15 minutes until fully baked.