Heat the milk, vegetable oil, and sugar in a saucepan until warm but not boiling. Let it cool slightly.

Sprinkle the yeast over the warm milk mixture and let sit for 5 minutes until frothy.

Add the flour, baking powder, baking soda, and salt; stir until combined.

Knead in the remaining flour and melted butter until dough is smooth and elastic. Cover and let rise for 1 hour.

Preheat oven to 375°F. Roll out the dough into a rectangle.

Spread melted butter over the dough, then sprinkle with cinnamon, sugar, and pecans.

Roll up the dough tightly and cut into 1/2-inch slices. Arrange in a baking dish.

Bake for 20 minutes until golden brown. Glaze with icing if desired.