In a large mixing bowl, combine 2 cups of flour, instant yeast, granulated sugar, salt, and ground cinnamon. Mix well.
In another bowl, whisk together the warmed milk, melted butter, and eggs.
Pour the wet ingredients into the dry ingredients and stir until combined. Gradually add the remaining flour, 1/2 cup at a time, until a soft dough forms.
Turn the dough onto a floured surface and knead for about 5-7 minutes until smooth and elastic.
Transfer the dough to a greased bowl, cover with a clean cloth, and let it rise in a warm place for about 1 hour, or until doubled in size.
While the dough is rising, prepare the filling. In a small bowl, mix the brown sugar and cinnamon for the filling. Set aside.
Once the dough has risen, punch it down and roll it out into a 16x12-inch rectangle on a floured surface. Brush the dough with melted butter and sprinkle the cinnamon-brown sugar mixture evenly over it. Top with chopped pecans.
Starting from the longer side, roll the dough tightly into a log. Pinch the seam to seal. Cut the log into 12 equal slices.
Grease a 9x13 inch baking dish and drizzle half of the caramel sauce in the bottom. Place the cinnamon roll slices in the dish, cut side up.
Cover the dish with a cloth and allow the rolls to rise for another 30 minutes. Preheat the oven to 350°F (175°C).
Bake the rolls for 25-30 minutes, or until golden brown. Remove from the oven and let cool for 10 minutes.
While the rolls are cooling, prepare the icing by mixing powdered sugar with milk until a smooth consistency is achieved.
Drizzle the icing over the warm rolls and top with additional pecans and caramel sauce if desired.
Notes
For best results, let the dough rise in a warm place.