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In a mixing bowl, dissolve yeast in warm water. Add the milk, sugar, oil, salt and 1-1/4 c. flour. Beat on medium speed for 2-3 minutes or until smooth. Stir in enough remaining flour to form a soft dough. Turn onto a floured surface; knead until smooth and elastic, about 6-8 minutes. Place in a greased bowl, turning once to grease top. Cover and let rise in a warm place until doubled, about 1 hour. Punch dough down. Turn onto a lightly floured surface. Roll into an 18 x 12 inch rectangle. Spread butter to within 1/2 inch of edges. Combine sugar and cinnamon; sprinkle over butter. Roll up, jelly-roll style, starting with a long side; pinch seam to seal. Cut into 12 slices. Combine brown sugar and cream; pour into a Pam sprayed 13 x 9 x 2 inch baking pan. Sprinkle with pecans. Place rolls, cut side down, over pecans. Cover and let rise until doubled, about 1 hour. Bake at 350 degrees for 30-35 minutes or until well browned.
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