1. In a mixing bowl, combine the warm milk, yeast, and a small spoonful of the granulated sugar. Let it sit until foamy.

2. Add the remaining granulated sugar, eggs, softened butter, salt, and flour. Mix until a soft dough forms, then knead until smooth and elastic.

3. Transfer the dough to a greased bowl, cover, and let it rise until doubled in size.

4. In a small bowl, stir together the brown sugar, cinnamon, heavy cream, vanilla extract, and part of the butter to create the sticky base. Spread this mixture into a greased baking dish and scatter the chopped pecans and pecan halves over it.

5. Roll the dough into a rectangle on a lightly floured surface. Spread the remaining butter over the dough and add a light layer of brown sugar and cinnamon filling.

6. Roll the dough tightly into a log and slice into even rolls. Arrange them in the prepared pan over the pecan topping.

7. Cover and let the rolls rise again until puffy.

8. Bake until golden brown and cooked through.

9. Let the rolls rest briefly so the topping settles, then serve warm.