1. Warm the milk until slightly warm but not hot, then combine it with sugar and instant yeast in a large bowl. Let it sit briefly until foamy.

2. Add melted butter, egg, and salt to the yeast mixture. Slowly mix in the flour until a soft dough forms.

3. Knead the dough for several minutes until smooth and elastic. Place it in a lightly greased bowl and allow it to rest.

4. In a separate bowl, mix brown sugar and cinnamon together to prepare the filling.

5. Roll the dough into a large rectangle on a lightly floured surface.

6. Brush melted butter across the dough and evenly sprinkle the cinnamon sugar mixture over the top. Add chopped pecans.

7. Roll the dough tightly into a log and slice into evenly sized rolls.

8. Arrange the rolls in a greased baking dish and let them rise in a warm place until puffy.

9. Preheat the oven to 350°F while the rolls rise.

10. Bake the cinnamon rolls for 18 to 25 minutes or until lightly golden brown.

11. Whisk together powdered sugar, vanilla extract, and heavy cream until smooth to create the glaze.

12. Allow the rolls to cool slightly before pouring the glaze over the warm cinnamon rolls.

13. Serve warm and enjoy.