Preheat your oven to 350°F (175°C). Grease a 9x9-inch baking dish.

In a small saucepan, combine brown sugar, melted butter, heavy cream, and vanilla. Stir over medium heat until the sugar dissolves and the mixture is smooth.

Pour the caramel mixture into the prepared baking dish and sprinkle with chopped pecans.

Open the cinnamon roll dough and arrange the rolls on top of the caramel sauce.

Bake for 25-30 minutes, or until the cinnamon rolls are golden brown and cooked through.

Once baked, let cool for 5 minutes, then invert the dish onto a serving plate to reveal the sticky, gooey pecan topping.

Serve warm with the icing that came with the cinnamon roll dough.