1 package (1/4 ounce) active dry yeast
3/4 cup warm water (110° to 115°)
3/4 cup warm 2% milk (110° to 115°)
1/4 cup sugar
3 tablespoons canola oil
2 teaspoons salt
3-3/4 to 4-1/4 cups all-purpose flour
1/4 cup butter, softened
1/4 cup sugar
3 teaspoons ground cinnamon
3/4 cup packed brown sugar
1/2 cup heavy whipping cream
1 cup coarsely chopped pecans
In a large bowl, dissolve yeast in warm water. Add the milk, sugar, oil, salt and 1-1/4 cups flour. Beat on medium speed for 2-3 minutes or until smooth. Stir in enough remaining flour to form a soft dough.
Turn onto a floured surface; knead until smooth and elastic, 6-8 minutes. Place in a greased bowl, turning once to grease top. Cover and let rise in a warm place until doubled, about 1 hour.
Punch dough down. Turn onto a lightly floured surface. Roll into an 18×12-in. rectangle. Spread butter to within 1/2 in. of edges. Combine sugar and cinnamon; sprinkle over butter. Roll up jelly-roll style, starting with a long side; pinch seam to seal. Cut into 12 slices.
Combine brown sugar and cream; pour into a greased 13×9-in. baking pan. Sprinkle with pecans. Place rolls cut side down over pecans. Cover and let rise until doubled, about 1 hour.
Bake at 350° for 30-35 minutes or until well browned. Cool for 1 minute before inverting onto a serving platter.