Preheat the oven to 350°F.
Lightly grease a 9x13-inch baking dish with oil or nonstick cooking spray.
Place the granulated sugar, all-purpose flour, baking soda, and salt in a large mixing bowl.
Whisk the dry ingredients until evenly combined.
Add the eggs and the entire can of crushed pineapple, including the juice.
Stir with a wooden spoon or spatula until the batter is smooth and no dry flour remains.
Pour the batter into the prepared baking dish.
Spread the batter evenly into the corners of the dish.
Sprinkle the brown sugar evenly over the surface of the batter.
Distribute the chopped pecans evenly over the brown sugar.
Place the baking dish in the preheated oven.
Bake for 40 to 45 minutes, or until a toothpick inserted into the center comes out clean.
While the cake is baking, prepare the icing.
Combine the evaporated milk, granulated sugar, and unsalted butter in a small saucepan.
Place the saucepan over medium heat.
Stir the mixture occasionally as the butter melts.
Bring the icing mixture to a gentle boil.
Remove the saucepan from the heat.
Add the vanilla extract and stir until fully incorporated.
Remove the baked cake from the oven.
While the cake is still hot, pierce the surface evenly with a toothpick or bamboo skewer.
Pour the hot icing slowly and evenly over the warm cake.
Allow the icing to absorb through the holes and into the cake.
Let the cake cool completely in the baking dish.
Cut the cooled cake into portions and serve.