Preheat the oven to 350 degrees Fahrenheit.
In a large mixing bowl, stir together the milk and yeast. Cover the bowl with a kitchen towel and allow the yeast to sit for about five minutes, or until foamy.
Whisk in the canola oil, flour, and 1 tsp of the cinnamon until no dry clumps of flour remain.
Place 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 melted 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 in 350 degrees oven.
Meanwhile melt the caramel chips in the microwave, stir in the pecans.
Remove the cinnamon rolls from oven and spoon the caramel on top of the rolls.
Bake the rolls for 5 more minutes, serve immediately, and enjoy!