Preheat oven to 375 degrees F. and lightly grease a 9x13-inch baking dish with cooking spray.
Open cinnamon rolls and set icing aside. Separate each cinnamon roll and cut into 6 pieces.
In a large mixing bowl combine cream cheese and 1 cup of caramel topping. Microwave in 15 second intervals until cream cheese is soft. Add milk and vanilla to bowl and mix until well combined.
Add cinnamon rolls to bowl and gently stir until they are well coated.
Pour mixture into the prepared baking dish.
Top with pecans and sea salt
Bake for 25-30 minutes or until dough is cooked through.
In a small bowl combine icing with remaining caramel topping and drizzle mixture over the casserole.