1. In a mixing bowl, combine 1 cup of flour and yeast. Add warm milk, sugar, melted butter, and salt. Beat with an electric mixer on low speed for 30 seconds, scraping bowl constantly. Stir in as much of the remaining flour as you can.
2. Turn dough out onto a lightly floured surface. Knead in enough of the remaining flour to make a moderately soft dough that is smooth and elastic (3 to 5 minutes total). Shape dough into a ball. Place in a lightly greased bowl; turn once. Cover; let rise in a warm place until double in size (about 1 hour).
3. Punch dough down. Turn out onto a lightly floured surface. Cover; let rest for 10 minutes. Meanwhile, for filling, combine brown sugar and cinnamon. Roll dough into a 12x8-inch rectangle. Spread with softened butter; sprinkle with brown sugar mixture. Roll up, starting from a long side. Seal seam. Slice into 12 pieces.
4. For topping, in a small saucepan, melt butter. Stir in brown sugar and pecans. Spread in a greased 13x9x2-inch baking pan. Place rolls, cut sides down, in prepared pan. Cover; let rise until nearly double (about 30 minutes).
5. Bake in a 375°F oven for 25 to 30 minutes or until golden brown. Cool in pan on a wire rack for 5 minutes. Invert onto a serving platter. Serve warm.