To prepare dough, combine the first 3 ingredients in a large bowl.
Dissolve yeast in 1/4 cup warm water in a small bowl; let stand 5 minutes. Stir yeast mixture into milk mixture. Add egg substitute and 3 tablespoons melted butter; stir until well combined.
Weigh or lightly spoon flour into dry measuring cups; level with a knife. Add 8 ounces (about 3 3/4 cups) flour to yeast mixture; stir until smooth. Turn dough out onto a lightly floured surface. Knead until smooth and elastic (about 8 minutes); add enough of remaining flour, 1 tablespoon at a time, to prevent dough from sticking to hands (dough will feel slightly soft and tacky).
Place dough in a large bowl coated with cooking spray; turn to coat top. Cover and let rise in a warm place (85°), free from drafts, 45 minutes. Punch dough down and turn over in bowl; lightly coat with cooking spray. Cover and let rise another 45 minutes. Punch dough down; cover and let rest 5 minutes.
To prepare sauce, combine brown sugar, 3 tablespoons butter, and 2 tablespoons hot water in a small bowl; stir with a whisk until smooth. Scrape sugar mixture into a 13 x 9–inch baking pan coated with cooking spray, spreading evenly over bottom of pan with a spatula. Sprinkle sugar mixture evenly with pecans, and set aside.
To prepare filling, combine 2/3 cup granulated sugar and cinnamon in a small bowl. Turn dough out onto a lightly floured surface; pat dough into a 16 x 12–inch rectangle. Brush surface of dough with 1 1/2 tablespoons melted butter. Sprinkle sugar mixture evenly over dough, leaving a 1/2-inch border. Beginning with a long side, roll up dough jelly-roll fashion; pinch seam to seal (do not seal ends of roll). Cut roll into 15 slices (approximately 1 inch wide). Arrange slices, cut sides up, in prepared pan. Lightly coat rolls with cooking spray; cover and let rise in a warm place (85°), free from drafts, 30 minutes or until doubled in size.
Preheat oven to 350°.
Uncover rolls, and bake at 350° for 20 minutes or until lightly browned. Let stand 1 minute; carefully invert onto serving platter.