Using shortening grease a large bowl. Place the frozen bread loaf inside and grease a piece of plastic wrap to place over the dough. Thaw the dough in the refrigerator overnight from 10 to 12 hours, or for about 4 to 5 hours at room temperature.
grease 2 8-inch round cake pans.
In a medium bowl, combine the brown sugar, finely chopped pecans, and cinnamon. Mix well to combine and set aside.
On a lightly floured surface, roll out the thawed bread dough into an 18x6-inch rectangle. The dough is quite elastic, so be patient when rolling it out to the recommended size. Let the dough rest for a few minutes now and then and it will relax and be easier to roll. Brush the melted butter evenly over the dough.
Sprinkle the brown sugar and cinnamon mixture over the buttered dough.
Starting at the long end, carefully roll the dough up to form a log. Slice the log into 20 uniform slices.
Arrange the formed rolls in the buttered cake pans. Move the pans to a draft-free place, cover with a clean kitchen towel, and let them rise for about 1 1/2 hours, or until doubled in bulk.
When the rolls have nearly doubled in size, preheat the oven to 350 F.
Drizzle the heavy cream evenly over the rolls—about 3 tablespoons per pan—and bake for 25 minutes. Remove the cinnamon rolls to racks to cool until just slightly warm.
Make the Icing
While the rolls cool off, sift the powdered sugar into a medium bowl, add the milk and vanilla, and stir until well blended. For thinner icing, add more milk, a few drops at a time. To thicken, add more powdered sugar.
Drizzle over warm cinnamon rolls. Serve