In a large mixing bowl, combine 2 cups of flour and yeast.
In a saucepan, heat milk, sugar, butter, and salt until warm (120-130°F).
Add milk mixture to flour mixture; add egg. Beat at low speed for 30 seconds, then at high speed for 3 minutes. Stir in remaining flour to make a soft dough.
Knead dough on a lightly floured surface for 6-8 minutes. Place in a greased bowl, cover, and let rise until doubled, about 1 hour.
For filling, combine brown sugar and cinnamon. Punch down dough, roll into a 12x8 inch rectangle. Spread with softened butter and sprinkle with sugar mixture. Roll up and cut into 12 slices.
For topping, combine brown sugar, melted butter, honey, and pecans. Spread in a greased 9x13 inch baking pan. Place rolls cut side down in the pan. Cover and let rise until doubled, about 30 minutes.
Bake at 375°F for 25-30 minutes or until golden brown. Cool for 5 minutes, then invert onto a serving platter.