In the bowl of your mixer add the warm water, 1/4 cup of granulated sugar and yeast. Stir and then let it rest for 5 to 10 minutes, or until the yeast starts to foam.
Add the rest of the dough ingredients to the bowl with the yeast mixture and using the dough hook attachment, mix until the dough comes clean from the side of the bowl. The dough should be smooth and elastic. If the dough is too sticky add a bit more flour, a tbsp at a time, or if the dough is too dry add a bit of water, a tbsp at a time.
Place the dough in a clean bowl that's been sprayed with cooking spray, cover with plastic wrap or a clean damp kitchen towel and let it rest in a warm, draft-free environment until the dough doubles in size.
In a small bowl, combine the brown sugar with the cinnamon together.
Grease a 9x13 inch baking dish with cooking spray or butter.
Roll the dough out on a lightly floured surface, until it is approximately 16 inches long by 12 inches wide. It should be approximately 1/4 inch in thickness.
Spread the 6 tbsp of softened butter evenly over the dough, then sprinkle with the cinnamon brown sugar mixture evenly over the surface of the dough.
Sprinkle the shredded apples evenly all over the cinnamon sugar, and follow with the chopped pecans.
Working carefully, from the long edge, roll the dough down to the bottom edge.
Cut the dough into 1 1/2 inch slices, and place in a lightly greased baking pan. Place the cut rolls in the prepared pan. Cover with a clean kitchen towel or plastic wrap and let them rise for another 30 minutes, or until doubled in size.
Preheat oven to 375 F degrees.
Transfer the rolls to the preheated oven and bake them for 20 to 25 minutes or until golden brown.
To make the icing whisk all the ingredients together until smooth.
Spread the cream cheese icing over the rolls while still warm from the oven. Serve and enjoy!