Dissolve yeast in warm water in a large bowl; let stand 5 minutes. Stir in 1/2 cup milk and next 5 ingredients (1/2 cup milk through egg). Lightly spoon flour into dry measuring cups; level with a knife. Add 3 1/2 cups flour to yeast mixture; stir until blended. Turn dough out onto a floured surface. Knead until smooth and elastic (about 10 minutes); add enough of the remaining flour, 1 tablespoon at a time, to prevent dough from sticking to hands (dough will feel sticky).
Place dough in a large bowl coated with cooking spray, turning to coat top. Cover and let rise in a warm place (85°), free from drafts, 1 hour or until doubled in size. (Gently press two fingers into dough. If indentation remains, dough has risen enough.) Punch dough down; cover and let rest 5 minutes.
To prepare filling, combine brown sugar, raisins, dried apricots, chopped pecans, and cinnamon.
Roll the dough into an 18 x 10-inch rectangle on a floured surface. Brush 2 tablespoons melted butter over dough; sprinkle with 1 1/2 cups filling, leaving a 1/2-inch border. Beginning with a long side, roll up jelly-roll fashion, and pinch seam to seal (do not seal ends of roll).
Place a long piece of dental floss under dough 3/4 inch from end of roll. Cross ends of floss over top of roll; slowly pull ends to cut through dough. Repeat procedure to make 24 rolls. Coat 2 (9-inch) square foil baking pans with cooking spray. Sprinkle 1/2 cup filling into bottom of each pan. Place 12 rolls, cut sides up, in each pan. Cover and let rise 1 1/2 hours or until doubled in size.
Preheat oven to 350°.
Uncover rolls. Bake at 350° for 20 minutes or until browned. Invert onto a serving platter.
To prepare glaze, combine powdered sugar and 2 tablespoons milk, stirring until smooth. Drizzle over warm rolls.
To Freeze Unbaked Rolls: Prepare recipe through cutting the dough into 24 rolls, placing in pans, and letting rise until doubled in size. Cover with plastic wrap. Wrap tightly with heavy-duty foil. Store in freezer up to 2 months.
To Prepare Frozen Unbaked Rolls: Remove rolls from freezer, and let stand at room temperature 30 minutes. Uncover and bake at 350° for 20 minutes or until browned.