Dissolve yeast in warm water in a large mixing bowl. Heat milk and butter in small saucepan until warm (100° to 110°F). Butter does not need to melt completely. Add to yeast mixture. Beat in sugar, salt, eggs and 3 cups flour. Mix well, adding additional flour until mixture forms a soft dough.
Knead on lightly floured surface until dough is smooth and elastic, about 6 to 8 minutes. OR knead with electric mixer using dough hook. Place in greased bowl, turning once to coat top. Cover and let rise in warm draft-free place until doubled in bulk, about 1 hour.
Mix sugar and cinnamon in small bowl. Set aside.
Combine brown sugar, butter, corn syrup, water and salt in heavy saucepan. Bring just to boiling point over medium heat to dissolve sugar. Remove from heat. Grease one 13 x 9-inch pan and one 8-inch square pan. Pour two thirds of the caramel topping into the 13 x 9-inch pan and the remainder into the 8-inch pan. Place pecans on top of the caramel, dividing nuts proportionally between the two pans.
Punch dough down. Roll into 18 x 10-inch rectangle on lightly floured surface. Spread with butter and top with cinnamon-sugar filling, pressing gently into dough. Roll up tightly, sealing edges. Cut into 12 equal slices. Place atop caramel topping (8 in 13 x 9-inch pan and 4 in 8-inch square pan). Cover rolls and let rise until nearly doubled, about 1 hour.
Bake in a preheated 350ºF oven for 25 to 30 minutes. Cover with foil during last 10 minutes if rolls are browning too quickly. Cool for 5 minutes before inverting on serving plate.
**To toast pecans, spread on a shallow baking sheet and bake in 350ºF oven for 7 to 8 minutes, stirring once. Remove from oven.