Mix warm milk, yeast, and 1 tbsp sugar; let sit 5 minutes until foamy.
Combine flour, remaining sugar, eggs, butter, and salt; add yeast mixture and knead 8-10 minutes.
Let dough rise in a greased bowl, covered, for 1-1.5 hours until doubled.
Mix butter, brown sugar, cinnamon, and salt for filling.
Roll dough into a 12x18-inch rectangle; spread filling, roll into a log, and slice into 12 rolls.
Place rolls in a greased 9x13-inch dish; let rise 30-45 minutes.
Preheat oven to 350°F; bake rolls 20-25 minutes until golden.
Beat cream cheese, butter, powdered sugar, vanilla, and milk for glaze; spread over warm rolls.
Garnish with pecans and cinnamon; serve warm.