Step 1: In a large bowl or stand mixer, combine the warm milk, sugar, and yeast. Let sit for 5-10 minutes until foamy.
Step 2: Add the melted butter, eggs, salt, and 2 cups of flour. Mix until combined.
Step 3: Gradually add the remaining flour, kneading for 5-7 minutes until the dough is smooth and slightly tacky.
Step 4: Place the dough in a greased bowl, cover, and let rise in a warm place for 1 to 1.5 hours or until doubled in size.
Step 5: Prepare the glaze by whisking together the 1/2 cup melted butter, 3/4 cup brown sugar, and maple syrup. Pour into a 9×13 inch baking pan and scatter pecans evenly over the top.
Step 6: Punch down the dough and roll it out on a floured surface into a 12×18 inch rectangle.
Step 7: Spread the softened butter over the dough, then sprinkle with the brown sugar and cinnamon mixture.
Step 8: Roll the dough tightly from the long edge and cut into 12 even pieces. Place the rolls in the prepared pan on top of the glaze and pecans.
Step 9: Cover and let rise for another 45 minutes. Preheat your oven to 350°F (175°C).
Step 10: Bake for 25-30 minutes until golden brown. Let cool for 5 minutes in the pan, then invert onto a large platter.