Step #1 Roll dough on a lightly floured surface into a 16- x 12-inch rectangle; brush with butter.
Step #2 Combine brown sugar & cinnamon; sprinkle it over butter, & top this with pecans.
Step #3 Roll up, jellyroll fashion, starting at a long edge; cut into 3/4-inch-thick slices.
Step #4 Arrange in two lightly greased 13- x 9-inch pans.
Step #5 Cover up & let rise in a warm place (85°), free from drafts, 30 mins or until doubled in bulk.
Step #6 Bake at 375° for 25 mins or until golden brown.
Step #7 Whisk together powdered sugar & milk; drizzle over warm rolls.
Step #8 Note: Rolls my be chilled overnight after second rising; let this stand at about room temp 30 mins before baking as directed.
Step #9 Or freeze rolls for up to 1 month after second rising; thaw overnight in refrigerator, & let this stand at about room temp 30 mins before baking as directed.