In a small bowl, dissolve yeast in warm water. Let stand until creamy, about 10 minutes.
In a large mixing bowl, combine the yeast mixture with sugar, melted butter, milk, salt, and 2 cups of flour. Stir well to combine. Stir in the remaining flour, ½ cup at a time, beating well after each addition. When the dough has pulled together, turn it out onto a lightly floured surface and knead until smooth and elastic, about 8 minutes.
Lightly oil a large mixing bowl, place the dough in the bowl, and turn to coat with oil. Cover with a damp cloth and let rise in a warm place until doubled in volume, about 1 hour.
Deflate the dough and turn it out onto a lightly floured surface. Roll the dough into a 12x9 inch rectangle. Spread the softened butter over the dough, then sprinkle with brown sugar and cinnamon.
Roll up the dough and pinch the seam to seal. Cut into 12 equal pieces and place them cut side up in a greased baking dish.
In a small saucepan, melt butter over medium heat. Stir in brown sugar and corn syrup until smooth. Pour over the rolls. Sprinkle with chopped pecans. Cover and refrigerate overnight.
Preheat oven to 375°F (190°C). Bake rolls in preheated oven until golden brown, about 30 minutes. Let cool in the pan for 5 minutes, then invert onto a serving platter.