Dynamical tunneling between symmetry-related stable modes is studied in the periodically driven pendulum. We present strong evidence that the tunneling process is governed by nonlinear resonances that manifest within the regular phase-space islands on which the stable modes are localized. By means of a quantitative numerical study of the corresponding Floquet problem, we identify the trace of such resonances not only in the level splittings between near-degenerate quantum states, where they lead to prominent plateau structures, but also in overlap matrix elements of the Floquet eigenstates, which reveal characteristic sequences of avoided crossings in the Floquet spectrum. The semiclassical theory of resonance-assisted tunneling yields good overall agreement with the quantum-tunneling rates, and indicates that partial barriers within the chaos might play a prominent role.