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Grease a 9×13-inch metal baking pan; set aside.
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In a small saucepan, stir milk, sugar, and butter together. Heat over low heat just until butter melts and sugar dissolves. Cool to about 100-105 F.
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Pour the milk mixture into the bowl of a stand mixer.
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Add the yeast and warm water.
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Add 2 cups flour and salt to yeast mixture. Using a dough hook, mix on low speed for about 1 minute.
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With the mixer still going, add remaining flour, 1/2 cup at a time. Mix about 1 ½ minutes, or until dough starts to clean the sides of the bowl.
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Knead on low speed for about 2 more minutes, or until dough is smooth and elastic – the dough will still be slightly sticky to the touch.
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Place dough in a greased bowl, turning it to grease the top. Cover the dough with a clean, dry dish towel.
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Let it rise in a warm place, free from draft, for about 10 minutes.
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While dough is rising, prepare the topping.
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Whisk melted butter, brown sugar, granulated sugar, corn syrup, and salt together in medium bowl until smooth.
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Add water and whisk until combined.
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Pour mixture into prepared pan. If necessary, tilt pan to get mixture to cover pan. Sprinkle evenly with pecans, if using. Set aside.
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Turn the dough onto a floured surface, and roll into a 12×16-inch rectangle.
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Stir filling ingredients together, and spread over dough. Since the filling is a little crumbly, I gently press it into the dough to help it stick.
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Roll dough up lengthwise, pinching seam to seal.
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Cut into 12 pieces, and place over topping in prepared baking dish. I use a serrated knife to cut the dough.
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Cover the baking dish with the dish towel, and let the dough rise for about 15 minutes.
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Meanwhile, preheat oven to 350 F.
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Bake at 20-25 minutes, or until the rolls are golden brown.
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Tent with aluminum foil, and continue to bake for an additional 10-15 minutes, or until baked through.
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Let the sticky buns cool in pan for 5 minutes.
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Place a serving dish over the pan, and carefully invert pan. Be careful as topping will be hot.
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Remove pan, and replace any topping that has fallen off.
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Let buns sit 10-15 minutes before serving.