Add the yeast to the warm milk, and set it aside to bloom. In the bowl of a stand mixer, add the flour, sugar, eggs, salt, and vanilla. Once the yeast is foamy, add it to the mixer bowl as well.
With the dough hook attached, mix on a low speed for 5 minutes. Then, increase the speed to medium and slowly add the butter. Let the dough mix for 15 minutes, or until it has pulled away from the sides of the bowl.
Cover the bowl and let the dough rise for 2 hours, or until doubled in size.
Meanwhile, prepare the sticky caramel and the roll filling. For the caramel, add the butter, brown sugar, maple syrup, and salt to a skillet. Over medium heat, simmer this mixture until it’s bubbling and all of the sugar has dissolved. Remove from the heat, stir in the vanilla bean paste, and set the caramel aside to slightly cool.
For the filling, mix the butter, brown sugar, and cinnamon together until smooth.
Once the dough has doubles in size, roll it into a large rectangle on a well floured surface, roughly 30”x18”. Spread the butter filling evenly over the surface. Tightly roll the rectangle into a long log shape. Cut the log into 12 even rolls.
Pour the sticky caramel into a greased 9”x13” pan, then top the caramel with chopped pecans. Place the rolls on top of the caramel, then cover the pan with plastic wrap and allow the rolls to complete a second rise until they have nearly doubled. This will take around 1 hour.
Preheat the oven to 375°F. Once the rolls are fully proofed, bake them for 35-40 minutes, until the tops are evenly golden brown.
Allow the rolls to cool for 15 minutes after baking, then flip them upside down and out of the pan to reveal the sticky pecan topping. Enjoy!