In a large bowl, mix the warm milk with yeast and let it sit for 5 minutes.
Add melted butter, sugar, and eggs to the yeast mixture, stirring well.
Gradually add flour and salt, mixing until a dough forms.
Knead the dough on a floured surface for about 10 minutes until smooth.
Place the dough in a greased bowl, cover, and let rise for 1 hour.
In a saucepan, combine brown sugar, corn syrup, and vanilla over medium heat until melted.
Pour the caramel mixture into a baking dish and sprinkle with nuts.
Roll out the dough into a rectangle, spread with butter, and sprinkle with sugar and cinnamon.
Roll the dough tightly and cut into 12 pieces.
Place the rolls in the baking dish, cover, and let rise for another 30 minutes before baking.