For the rolls, dissolve the yeast in the warm milk (100-110°) with a teaspoon of sugar (you can take a teaspoon out of the 1/2 cup of sugar) in a large bowl. Let it sit for about five minutes. If the yeast is good, it will start to froth up.
In your mixer bowl, add sugar, butter, salt, eggs and flour. Pour the milk/yeast mixture over the flour mixture.
Using the dough hook, mix well until the ingredients are incorporated.
Place the dough in an oiled bowl, cover and let it rise in a warm place (for about one hour or until the dough has doubled in size).
Combine the brown sugar and cinnamon in a bowl. Crush the pecans and place them in a separate bowl.
Grease a 9×13-inch baking dish with cooking spray or butter.
Roll the dough out on a lightly-floured surface, until it is approximately 16×12 inches wide. It should be approximately 1⁄4-inch in thickness.
Spread the 1/3 cup of butter evenly over the dough, then sprinkle it evenly with the sugar and pecans. Working carefully, from the long edge, roll the dough down to the bottom edge.
Cut the dough into 1 1⁄2-inch slices and place them in a lightly-greased baking pan. Cover the pan with plastic wrap and let them rise for another 30 minutes (or until doubled in size).
Preheat the oven to 350 degrees. Place the pan in the oven and bake for 20 minutes (or until golden brown). Cooking time can vary.
While the rolls are baking, make the icing by mixing all the icing ingredients and beat well with an electric mixer until fluffy and smooth. When the rolls are done, spread the icing generously on top of the cinnamon rolls.