In a saucepan, soften the butter. Take away from warmth and add milk to heat.
In a separate bowl, whisk collectively the flour, yeast, brown sugar, cinnamon and salt. On low pace, add the flour combination to mix. Beat in egg, then beat till dough comes collectively. Change to a dough hook attachment and beat on medium pace till dough varieties a ball. If dough is just too sticky, add extra flour 1 tablespoon at a time.
On a floured floor, and with floured fingers, knead dough till easy and elastic, about 20 instances; type right into a ball. Switch to a frivolously oiled bowl. Cowl with a dish towel and let dough double in quantity at room temperature, about 2 to three hours.
In a medium skillet, soften 4 tablespoons butter. In a medium bowl, beat collectively melted butter, darkish brown sugar, cinnamon, ginger, vanilla extract, and salt.
Punch dough within the heart to deflate. Flip dough onto a floured work floor and roll right into a 9×13-inch rectangle. Sprinkle chopped pecans evenly throughout the highest.
Tightly roll the dough, beginning on the lengthy finish, right into a jelly roll. With the seam-side down, reduce dough into 9 equal-sized items.
Grease a 9-inch cast-iron skillet with softened butter. Place cinnamon rolls into the cast-iron skillet, reduce facet up, touching one another. Cowl with plastic wrap and a dish towel and let double in quantity, about 45 minutes.
Preheat oven to 375°F. Bake rolls till golden brown and expanded, about 20 to 25 minutes. Take away from oven and funky.
Within the meantime, work on sauce. In a saucepan, mix brown sugar, 1/4 cup chilly water and Hennessey, and prepare dinner to dissolve sugar, about 5 minutes. Whisk in remaining butter, vanilla and powdered sugar till a sauce is shaped.
Pour glaze on high of cinnamon rolls, and sprinkle with pecans. Permit glaze to set earlier than serving, about 20 minutes.
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