Begin by buttering an 8x8 square baking dish

To toast pecans:

1. Place pecans on a baking dish and toast for 10 minutes in a preheated 350 degree oven. Set aside to cool and then chop.

To make the dough:

1. Warm milk to about 100 degrees and place in bowl of mixer. Add yeast and sugar and stir well to combine. Let this mixture sit until the yeast becomes active and slightly foamy - about 5 minutes. 
2. Add all other dough ingredients to mixer bowl. Using dough hook, mix on low speed until combined. Increase speed to low-medium and allow mixer to run for about 5-7 minutes until dough is completely combined. It will be a little sticky which is what you want. 
3. Scrape sides and bottom and remove dough from bowl. Give the dough just a few hand kneads before forming into a ball and allowing to rise, covered, for an hour (I do this right in the same mixer bowl).

In the meantime, gather filling ingredients and make caramel

To make the Caramel:

1. Combine all caramel ingredients in a saucepan and cook over medium heat, stirring often, until melted. Bring to a boil, reduce to medium, and allow to simmer for 5-7 minutes until thickened slightly.
2. Pour 3/4 cup caramel in bottom of baking dish and reserve the rest for topping later.
3. Add 1 cup toasted, chopped pecans and one diced peach on top of caramel. Set aside.

Assembling and Baking:

1. After dough rises for one hour, turn out onto a lightly floured surface and roll into a rough rectangle measuring about 12 inches in length.
2. Spread butter all over surface and then sprinkle evenly with brown sugar, cinnamon, pecans, and peaches. 
3. Beginning at the long edge closest to you, roll dough into a log, keeping nice and tight as you roll. Pinch edges to seal, trim ends if desired, and slice into 9 even pieces.
4. Place rolls in baking dish on top of caramel, pecans, and peaches.
5. Allow to rise, covered, for about 30 minutes while you preheat the oven to 350 degrees F.
6. After 30 minutes, place in preheated 350 degree oven and bake for 45-50 minutes. I like to tent with foil about 1/2 way through to prevent them darkening too much.
7. After baking, allow to cool for about 10 minutes before drizzling over remaining caramel.
8. Top with extra chopped pecans and peaches if desired. Serve with a scoop of ice cream, whipped cream, or greek yogurt. Enjoy!