Prepare Dough: In a large mixing bowl, combine 1 cup of warm milk, 2 teaspoons of active dry yeast, and a pinch of granulated sugar. Let this mixture sit for about 5 minutes until it becomes foamy, indicating that the yeast is active.

Mix Ingredients: Once the yeast is foamy, add 4 tablespoons of melted unsalted butter, 1 large egg, 1/4 cup of granulated sugar, and 1 teaspoon of salt to the bowl. Gradually sift in 3 to 4 cups of all-purpose flour until a soft dough forms. Knead the dough on a lightly floured surface for about 5-7 minutes until smooth, then place it in a greased bowl, cover, and let it rise in a warm area for about 1 hour.

Fill Dough: After the dough has risen and doubled in size, roll it out on a floured surface into a large rectangle approximately 14x10 inches. Spread 4 tablespoons of softened unsalted butter onto the surface, then sprinkle with 1/2 cup of brown sugar, 2 tablespoons of ground cinnamon, 1 cup of semi-sweet chocolate chips, and 1/2 cup of chopped pecans.

Shape Rolls: Starting from one long edge, carefully roll the dough up tightly into a cylindrical shape. Once rolled, slice the cylinder into 8 equal pieces, placing them cut-side up in a greased baking dish. Cover the dish with a clean kitchen towel and let the rolls rise for an additional 20 minutes.

Bake: Preheat your oven to 350°F (175°C). Bake the rolls for about 25 minutes, or until they are golden brown.

Glaze: While the rolls are cooling slightly, prepare the glaze by whisking together 1 cup of powdered sugar and 2-3 tablespoons of milk until smooth. Drizzle the glaze generously over the warm Chocolate Pecan Cinnamon Rolls.