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In the bowl of a stand mixer (or a large bowl), dissolve yeast in milk and allow to sit for about 5 minutes until bubbly. Stir in sugar, oil, and salt until combined. Add flour a cup at a time until your dough comes together and starts to pull away from the sides of bowl. Cover bowl with a damp towel or plastic wrap and place in warm place to rise until doubled in size. (Alternatively, you can refrigerate the dough overnight and have it ready for a quick breakfast. Just pull it out about an hour before you want to use it.)
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Meanwhile, make your caramel. Combine the maple syrup, almond milk, salt, and brown sugar in a large saucepan over medium low heat. Bring mixture to a boil, stirring gently until it begins to bubble. Once boiling, stop stirring and allow it to boil until the the sauce starts to thicken and the temperature reaches somewhere between 350-380 degrees F on a candy thermometer. Remove from heat and (carefully, it will bubble!) add coconut cream and vanilla, then set aside. Grease a 13x9 inch glass pan (or 2 8x8 inch or 2 10-inch round cake pans) and pour half of the caramel sauce into pan(s). Sprinkle half of pecans over caramel in the pan(s) and reserve the rest.
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Divide dough in half and roll out one half on a lightly floured surface into a rectangle, roughly 1/4 inch thick. Spread 1/4 cup of butter in an even layer on top and sprinkle with 1/4 cup pecans and 1/3 cup brown sugar. Starting from the short end, roll it up until you reach the other end. Then using a sharp knife, cut into 6 spirals and place in prepared pan (spiral face-up). Repeat with other half of dough until you have 12 rolls. Cover pans and allow them to rise while oven preheats.
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Preheat oven to 350 degrees F (175 C). When oven is hot, Pour remaining caramel evenly over tops and bake for 30 - 40 minutes until edges start to brown. Remove pan(s) from oven and allow the to cool for about 5 minutes. Loosen edges with a knife and place a large plate or tray over pan, then carefully flip pan upside-down and lift off of rolls (don't forget to scrape the extra caramel from the pan!)
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Serve hot and have plenty of hot tea or coffee at the ready!