Warm the milk, granulated sugar, and butter over low heat in a saucepan until the butter melts. Allow to cool slightly until warm.

Combine the instant yeast with warm water in a separate bowl. Let it sit for about 5 minutes until foamy.

In a large mixing bowl, combine the milk mixture and yeast solution. Gradually add flour and salt, mixing until a soft dough forms.

Knead the dough on a floured surface for about 5-7 minutes until smooth and elastic.

Place the dough in a greased bowl, cover with a towel and let rise in a warm area for about 1 hour.

Mix together brown sugar, granulated sugar, cinnamon, and softened butter in a medium bowl until smooth.

After the first rise, punch down the dough and roll it out into a rectangle, about ¼ inch thick. Spread the filling evenly over the dough.

Roll the dough tightly from one long side to the other and slice into 12 even pieces.

In a saucepan, combine melted butter, dark corn syrup, sugars, and water over low heat until smooth.

Pour the mixture into a greased baking dish and sprinkle with pecans if desired.

Place cut rolls in the dish with cut sides down. Cover and let rise for another 30-45 minutes.

Preheat oven to 375°F. Bake for 35-40 minutes until golden brown.

Let cool for 5 minutes, then invert onto a platter.