1. In a large mixing bowl, combine 1 cup of flour and yeast.
2. In a saucepan, heat milk, sugar, butter, and salt until warm and butter is almost melted.
3. Add milk mixture to flour mixture; add egg. Beat with an electric mixer on low speed for 30 seconds, scraping bowl constantly. Beat on high speed for 3 minutes.
4. Stir in as much of the remaining flour as you can. Knead dough on a lightly floured surface until smooth and elastic (6 to 8 minutes). Shape into a ball. Place in a greased bowl; turn once. Cover and let rise in a warm place until doubled in size (about 1 hour).
5. Punch dough down. Turn out onto a lightly floured surface. Cover and let rest for 10 minutes.
6. Roll dough into a 12x8-inch rectangle. Spread with softened butter. Combine brown sugar and cinnamon; sprinkle over butter. Roll up, starting from a long side. Seal seam. Slice into 12 pieces.
7. For topping, in a small saucepan, melt butter. Stir in brown sugar and pecans. Spread in the bottom of a greased 9x13-inch baking pan. Place rolls, cut side down, in the pan.
8. Cover and let rise until nearly doubled (about 30 minutes). Preheat oven to 375°F (190°C).
9. Bake for 25 minutes or until golden brown. Cool in pan for 5 minutes. Invert onto a serving platter. Serve warm.