Warm the milk: Heat milk until warm to the touch, about 110°F. If using active dry yeast, sprinkle it over the milk with a pinch of sugar and let it sit 5–10 minutes until foamy. If using instant yeast, you can add it directly to the flour in the next step.

Make the dough: In a large bowl, combine 3 1/2 cups flour, granulated sugar, and salt. Add the warm milk-yeast mixture (or warm milk if using instant yeast), eggs, and 6 tablespoons melted or very soft butter. Mix until a shaggy dough forms.

Knead: Knead by hand on a lightly floured surface for 8–10 minutes (or 5–7 minutes in a stand mixer with a dough hook) until smooth and slightly tacky. Add a little more flour if the dough is overly sticky, but avoid adding too much or the rolls will be dense.

First rise: Place dough in a greased bowl, cover, and let rise in a warm spot until doubled, about 1–1 1/2 hours. It should feel puffy and airy.

Toast pecans: While the dough rises, toast chopped pecans in a dry skillet over medium heat for 3–4 minutes, stirring often, until fragrant. Let cool.

Make the filling: In a small bowl, mix brown sugar, cinnamon, and a pinch of nutmeg (optional). Stir in 2 tablespoons maple syrup until the mixture resembles damp sand. Set aside the softened 6 tablespoons butter to spread on the dough.

Shape the rolls: Punch down the risen dough. Roll it into a 12x18-inch rectangle. Spread the 6 tablespoons softened butter evenly over the surface. Sprinkle the brown sugar-cinnamon mixture over the butter, then scatter the toasted pecans on top. Lightly press them in.

Roll and cut: Starting from a long side, roll the dough into a tight log. Trim the ends if needed. Cut into 12 even pieces using a sharp knife or dental floss for clean cuts.

Second rise: Arrange rolls in a greased 9x13-inch pan, leaving slight space between them. Cover and let rise until puffy and touching, 35–50 minutes.

Bake: Preheat oven to 350°F. Bake for 22–28 minutes until lightly golden on top and the centers read about 190°F. Don’t overbake—they should be soft.

Make the maple glaze: Beat cream cheese until smooth. Add powdered sugar, 3 tablespoons maple syrup, vanilla, and maple extract if using. Adjust with a splash of milk or more powdered sugar to reach a thick, pourable consistency.

Glaze and serve: Let rolls cool for 10 minutes, then spread with glaze. Drizzle a little extra maple syrup on top and sprinkle a few chopped pecans if you like. Serve warm.