Preheat the oven to 350 degrees Fahrenheit.

In a large mixing bowl, gently stir together the milk and yeast. Cover the bowl with a kitchen towel and allow the yeast to sit for five minutes, or until foamy.

Whisk in the canola oil, flour, and 1 tsp of cinnamon until no dry clumps of flour remain.

Dump the dough onto a floured surface and knead for five minutes. Place the dough back in the mixing bowl and cover it with plastic wrap for 20 minutes.

Roll the dough out into a large rectangle about ¼ inch thick and prep the filling by melting the butter and mixing it together with the brown sugar and remaining cinnamon.

Spread the filling across the dough, roll it into a long cylindrical shape, and cut it into discs.

Place the rolls in an 8x8 inch baking dish and allow the rolls to rise for 20 more minutes.

Bake the rolls for 20 minutes. After 20 minutes, melt the caramel chips in the microwave, stir in the pecans, and spoon the caramel on top of the rolls.

Bake the rolls for 5 more minutes, serve immediately, and enjoy!