In a stand mixer bowl, combine warm milk, yeast, and sugar; let rest 5 minutes until foamy.

Add melted butter, egg, and salt. Gradually add flour and knead with dough hook for 3 minutes until dough is sticky yet elastic. Transfer to greased bowl, cover, and let rise 1 hour until doubled.

Meanwhile, whisk corn syrup, egg, vanilla in a bowl. Stir in pecans. In separate bowl, combine brown sugar and cinnamon. Set aside.

Roll dough on floured surface to 9×13-inch rectangle. Spread softened butter over dough, leaving a thin border. Sprinkle cinnamon sugar evenly. Dollop pecan mixture in small spoonfuls over sugar, pressing lightly.

Roll dough tightly from long edge, pinch seam to seal. Slice into 9 rolls with dental floss or sharp knife, discard uneven edges.

Place rolls spaced in greased 10-inch round or 9×13-inch pan. Cover and let rise 30 minutes more.

Preheat oven to 350°F (175°C). Bake rolls 25-30 minutes until golden and cooked through.

For frosting: Beat cream cheese, butter, powdered sugar, and extract until creamy. Spread on warm rolls or serve on the side.