Dissolve yeast in warm water in a small bowl.

Combine milk, softened butter, egg, sugar, salt, and yeast mixture in a large bowl.

Beat in 2-1/2 cups of flour on medium speed for 3 minutes.

Stir in remaining flour until a soft, sticky dough forms.

Turn dough onto a floured surface and knead for 6-8 minutes until smooth and elastic.

Place dough in a greased bowl, turning to grease the top.

Cover with plastic wrap and let rise in a warm place for about 1 hour, or until doubled.

In a large bowl, combine melted butter, brown sugar, chopped pecans, and flour for the filling.

Punch down the risen dough.

Turn dough onto a lightly floured surface and divide into four portions.

Roll each portion into a 12x8-inch rectangle.

Spread each rectangle with a quarter of the filling, leaving a 1/2-inch border.

Roll up each rectangle jelly-roll style, starting with a long side, and pinch the seam to seal.

For each roll, make two lengthwise cuts, starting 1 inch from one end, creating three sections.

Braid the sections together, with cut sides up.

Pinch ends to seal and tuck under.

Place braids on greased baking sheets.

Cover with kitchen towels and let rise in a warm place for about 1 hour, or until almost doubled.

Preheat oven to 350°F (175°C).

Bake for 18-20 minutes, or until lightly browned.

Remove from pans to wire racks to cool slightly.

For the glaze, mix confectioners' sugar with enough milk to reach desired consistency.

Drizzle glaze over warm braids.