Dissolve yeast in water. Add butter, sugar, milk powder and salt, then beat in 2 cups flour on low for 3 minutes. Stir in enough remaining flour to form a soft dough. , Turn onto a floured surface; knead until smooth and elastic, 6-8 minutes. Place dough in a greased bowl, turning once to grease top. Cover and let rise in a warm place until doubled, about 1 hour., Meanwhile, in a small saucepan, make sauce by combining brown sugar, butter and corn syrup; cook over medium heat until sugar is dissolved. Stir in pecans. Pour into a greased 13x9-in. baking dish., Punch down dough. Turn onto a floured surface; roll into a 16x10-in. rectangle. Make filling by combining butter, sugar and cinnamon; spread to within 3/4 in. of edges. Roll up jelly-roll style, starting with a long side; pinch seam to seal. Cut into 12 slices; place slices cut side down over sauce. Cover with a kitchen towel; let rise in a warm place until doubled, about 45 minutes., Preheat oven to 375°. Bake until golden brown, 20-25 minutes. Cool 3 minutes before inverting onto a serving platter.