In a large bowl, combine flour, granulated sugar, yeast, cinnamon, and salt.

In another bowl, mix warmed milk, softened butter, eggs, and vanilla extract.

Gradually add wet ingredients to the dry ingredients, mixing until a dough forms.

Knead the dough on a floured surface until smooth, then place in a greased bowl and cover. Let rise until doubled in size.

Roll dough into a rectangular shape and spread with brown sugar and chopped pecans (if using).

Roll the dough tightly into a log and form into a circle, sealing the ends.

Place on a greased baking sheet and let rise again until doubled.

Preheat the oven to 350°F and bake for 30 minutes or until golden brown.

Allow to cool slightly, then drizzle with icing made from powdered sugar and milk or cream.