Add the yeast to the warm milk with ½ tsp of sugar and let sit for 5 minutes until frothy.

In a stand mixer, combine the flour, salt, and white sugar.

Pour the yeast mixture into the dry ingredients and knead with a dough hook until combined.

Add 4 tablespoons of softened butter, 1 tablespoon at a time.

Knead on low speed for 5 minutes.

Form the dough into a ball and return it to the bowl.

Cover and rest in a warm spot for 30 minutes or until doubled in size.

Dump the dough onto a floured surface and roll out to a 10x20 inch rectangle.

Spread the melted butter over the dough, then sprinkle with brown sugar, white sugar, and cinnamon.

Roll up tightly and cut into 8 pieces (or 12 for smaller rolls).

In a small saucepan over low heat, combine the butter, brown sugar, vanilla, cinnamon, heavy cream, and a pinch of salt. Bring to a low boil and whisk until dissolved.

Lightly grease a 9x12 baking pan with butter, pour in the caramel sauce, and sprinkle with pecans.

Place the sticky buns in the caramel pecan sauce and cover to rise in a warm place for at least 30 minutes.

Preheat oven to 350°F.

Bake for 25-30 minutes or until the middle rolls are no longer doughy.

Let rest for 15 minutes before inverting onto another pan lined with parchment paper.