How to Make It
Preheat oven to 350° F.
To prepare the dough, whisk together the flour, sugar, baking powder, and salt in a large bowl; set aside. In a separate mixing bowl, whisk together the yogurt, milk, butter, and egg until thoroughly combined. (It’s okay if small butter lumps remain.) Stir the yogurt mixture into the flour mixture using a rubber spatula to form the dough. Gather the dough and knead a few times in the bowl to bring all of the dough together in a single mass.
Turn the dough out onto a lightly floured surface. Roll the dough into a 12-x15-inch rectangle. To fill, spread ½ cup very soft butter over the dough, leaving a 1-inch border around the edges. Mix together the light brown sugar, ¼ cup granulated sugar, cinnamon and ¼ teaspoon salt in a bowl; sprinkle evenly over the butter. Sprinkle chopped pecans evenly over the sugar mixture.
Starting at one long side of the dough, tightly roll the dough into a log. Cut the log into 12 equal rolls (each will be just shy of 1 ½ inches thick). Place the rolls cut side down into a greased 9-x13-inch pan.
Bake at 350° F for 25 to 30 minutes or until golden brown. Cool for 5 minutes before frosting.
To prepare the frosting, place the cream cheese in a mixing bowl. Melt the 3 tablespoons butter in a skillet or saucepan over medium-low heat; cook, stirring often, until the milk solids turn golden-brown and the butter smells nutty, about 10-12 minutes. Pour the butter, scraping all the browned bits from the pan, over the cream cheese and whisk until smooth and combined. Mix in the powdered sugar, vanilla extract, and ¼ teaspoon salt. Spread evenly over rolls.