Add milk, sugar, butter, egg, flour, salt and yeast to bread machine. Select dough cycle. When cycle is complete remove dough from machine. Cover dough and let rest for 10 minutes. On a floured surface, roll out dough to form a 12-inch square. Brush dough with 2 tablespoons melted butter. Combine 3 tablespoons sugar and cinnamon. Sprinkle over butter. Sprinkle with pecans. Roll up jellyroll style. Pinch ends. Place seam side down on greased baking sheet. Let rise until double (30-45 minutes). Bake at 350ยบ for 20-25 minutes. Drizzle with glaze.