In the bowl of an electric mixer, combine warm water, yeast and 1 teaspoon sugar. Stir to dissolve and let sit until foamy, about 5 minutes.
To the mixing bowl of a stand mixer, add milk, 5 tablespoons room-temperature butter, remaining sugar, egg yolks, orange zest, salt and 3 cups flour. Using the dough hook, mix on low speed until blended, then slowly incorporate the remaining 1 cup of flour.
Increase speed to medium, kneading dough until smooth and slightly sticky (adding a little more flour if too wet), about 3 to 5 minutes.
Shape the dough into a ball and place in a large, greased bowl (use remaining room temperature butter). Turn the dough over to coat with the butter from the bowl and cover with plastic wrap.
Let dough rise in a warm place until doubled in volume, about 1 hour (may take up to 2 hours if rising in cooler temperatures). Once the dough has risen, punch down. Turn out onto a lightly floured cutting board or surface and let it sit for 20 minutes
While the dough rests, combine brown sugar and cinnamon in a small bowl. Melt butter; keep separate.
Roll out the dough into a 12" x 18" rectangle. Brush the surface of the dough with the melted butter and sprinkle with the cinnamon sugar
Roll the dough jellyroll-style by starting with the long side, roll until it looks like a long cylinder. Place seam side down on a flat surface and cut crosswise into 12-15 slices.
For the topping, in a 1-quart saucepan, add brown sugar, light corn syrup, butter, and honey or maple syrup. Place saucepan over low heat; stir until combined and butter is melted. Pour mixture into a greased 9" x 13" pan and sprinkle pecans and Craisins® dried cranberries on top.
Place the dough rounds, flat side down, on top of prepared topping. Make sure to crowd them so they touch.
Preheat oven to 375°F and let the buns rise for another 15-20 minutes while the oven preheats, then bake until golden brown, 30-35 minutes.
Remove the pan from the oven and immediately (please be very carefully when flipping, as the product will be extremely hot!) invert onto a serving tray or baking dish. Let buns cool slightly and serve warm.
Optional: If making the night before, cover with plastic wrap, and refrigerate overnight. Let rise about 30 minutes before baking.