In a large bowl, combine 2-1/4 cups flour, sugar, yeast and salt. In a saucepan, heat milk and butter to 120°-130°. Add to dry ingredients; beat just until moistened. Add eggs; beat until smooth. Stir in enough remaining flour to form a soft dough.
Turn onto a floured surface; knead until smooth and elastic, about 6-8 minutes. Place in a greased bowl, turning once to grease top. Cover and let rise in a warm place until doubled, about 1 hour.
In a bowl, combine the brown sugar, flour and cinnamon. Cut in butter until crumbly; set aside. Punch dough down. Turn onto a floured surface; let rest for 10 minutes. Roll into a 12-in. square. Sprinkle crumb mixture to within 1/2 in. of edges; top with apple and pecans.
Roll up jelly-roll style; pinch seams to seal. Cut into nine slices. Place cut side up in a greased 13-in. x 9-in. baking dish. Cover and refrigerate for 2-24 hours.
Uncover and let stand at room temperature for 30 minutes before baking. Bake at 350° for 30-35 minutes or until golden brown. Combine the glaze ingredients; drizzle over rolls. Serve warm.