In a large mixing bowl, combine the warm milk and sugar. Sprinkle the yeast over the top and let it sit for about 5-10 minutes until frothy.
In a separate bowl, mix together the melted butter, eggs, and vanilla extract. Once the yeast mixture is frothy, add the butter mixture to it.
Stir in the flour and salt, and knead the dough on a floured surface for about 5-7 minutes until smooth and elastic.
Place the dough in a greased bowl, cover it with a damp cloth, and let it rise in a warm place for about 1 hour, or until it has doubled in size.
Preheat your oven to 350°F (175°C). In a small bowl, combine brown sugar, cinnamon, and the 1 cup of chopped pecans.
Once the dough has risen, roll it out into a rectangle (about 16x24 inches). Brush the surface with melted butter, then sprinkle the brown sugar mixture evenly over the dough.
Starting from one long side, tightly roll the dough into a log. Cut the log into 12 equal pieces.
Place the rolls in a greased 9x13 inch baking dish. Drizzle maple syrup over the top of the rolls and sprinkle with the remaining chopped pecans.
Cover the dish with plastic wrap and let the rolls rise again for about 30 minutes.
Bake in the preheated oven for 25-30 minutes until golden brown.
Allow the rolls to cool in the pan for 5-10 minutes, then invert onto a serving platter to let the sticky topping drizzle down.
Notes
Dust with powdered sugar before serving for an elegant touch, and serve warm from the oven with extra maple syrup on the side.