Step 1: In a large bowl, combine warm milk, 1 tablespoon of sugar, and yeast. Let sit for 5-10 minutes until foamy.
Step 2: Add melted butter, egg, salt, and remaining sugar to the yeast mixture. Gradually stir in flour until a soft dough forms.
Step 3: Knead the dough on a lightly floured surface for 5-7 minutes until smooth. Place in a greased bowl, cover, and let rise in a warm place for 1 hour.
Step 4: While dough rises, sauté diced apples in a small pan with 1 tablespoon of butter and a pinch of cinnamon for 5 minutes. Let cool.
Step 5: Punch down the risen dough and roll into a 12x18 inch rectangle. Spread softened butter over the surface.
Step 6: Sprinkle brown sugar, cinnamon, sautéed apples, and pecans evenly over the dough.
Step 7: Roll the dough tightly from the long edge. Cut into 12 even slices using dental floss or a sharp knife.
Step 8: Place rolls in a greased 9x13 inch baking pan. Cover and let rise for another 30-45 minutes.
Step 9: Preheat oven to 350°F (175°C). Bake for 20-25 minutes until the apple and pecan cinnamon rolls are golden brown.
Step 10: Allow to cool slightly before applying your favorite frosting or glaze.