Start by activating your yeast. Add the yeast, warm milk, and sugar to your mixing bowl. Mix for a couple of spins. Let this sit for 3-7 minutes.
Add in the remaining ingredients and mix for 1 minute on medium speed. Check the dough. It should be slightly tacky (sticky), but not too much.
If you need to add a little more all-purpose flour. Mix on medium speed for 6-8 minutes until the dough is smooth.
Cover and let this double. Mine took about 50 minutes.
While this is rising, prepare the caramel mixture. Add all ingredients to a saucepan and cook it over medium heat, stirring frequently until it comes to a low boil. Let it boil for about 1-2 minutes.
Spray the muffin tins with pan release, or butter with softened butter.
Divide the mixture between the muffin tins, this is almost 2 tablespoons of caramel per tin. Sprinkle with the pecans. Set this aside until you are ready.
Next, prepare the filling. Mix all ingredients together in a small bowl.
When the dough is ready, sprinkle the surface with flour and roll your dough into a rectangle that is about 12 inches by 24 inches. Spread evenly with the filling mixture.
Roll the roll and pinch closed.
Cut into 24 pieces. Place each piece in a muffin tin over the caramel.
Cover and let the rolls rise until they are doubled. Mine took about 45 minutes.
When it is almost done rising, preheat the oven to 375 degrees. Place the doubled rolls into the oven.
Keep an eye on these to ensure the caramel doesn't spill over, you may need to put a pan underneath.
Bake for 15-18 minutes. They will bake quickly since they are so small.
Carefully remove them from the oven and invert them onto a baking sheet. If there is caramel left in the tins, simply spoon it out while it is still warm and spread it on the sticky buns.
They are done!