Heat the milk in the microwave for a minute until warmed to 110℉. Sprinkle both packets of yeast over the milk. Let it sit for 10 minutes.
In a large bowl, mix the flour, cane sugar, and salt together. Add in the cubed butter. Use a pastry kneader or your hands to knead the butter into the flour until the butter is the size of a pea.
Add in the milk/yeast and lightly beaten eggs to the dry ingredients. Use a stand mixer and a dough hook. Mix on low speed until a dough starts to form.
Switch to medium speed and knead for 5 minutes.
For making right away: Preheat the oven to 200℉. Cover bowl with a kitchen towel. Turn off the oven, place the bowl in the oven, and crack open the door. Let rise for 1 hour.
For overnight: Cover bowl with foil or plastic wrap. Place in the fridge to rise overnight.
In a saucepan over medium heat, melt the butter for the pecan pie filling. Add in the brown sugar, cinnamon, heavy cream, and pecans. Heat until it starts to bubble and then cook for about 4-5 minutes.
Pour the pecan pie filling into a bowl and chill in the fridge.
In a small bowl, beat the butter for the cinnamon filling on high speed until fluffy. Add in the brown sugar and cinnamon, and beat until smooth.
Roll the dough out on a lightly floured surface into a large rectangle about 1/4-inch thick.
Spread the cinnamon filling over the dough, then spread the pecan pie filling over the cinnamon filling.
Starting on the short side, roll into a log and cut into 9 rolls.
Spray a 9X13 casserole dish with baking nonstick spray. Place the rolls evenly into the dish. Cover with a towel and let rise for 20 minutes.
Once done rising, pour the heavy cream over the rolls.
Preheat the oven to 375℉ and bake for 27-29 minutes until the top of the rolls is golden brown.
In a small bowl using a hand mixer, beat the cream cheese and butter for the icing on high speed for 2 minutes. Then add in the confectioners sugar and mix until smooth. Add in the vanilla and milk and mix until smooth.
Spread the icing over the cinnamon rolls and top with chopped pecans.
Notes
For making by hand instructions, refer to recipe notes.
Store leftovers in an airtight container in the refrigerator.
These rolls can be frozen before baking; just thaw and bake as directed.