To make the streusel filling, in a small bowl, combine the brown sugar, flour, granulated sugar and cinnamon. Using a pastry blender or 2 knives, cut in the butter until the mixture is the consistency of coarse crumbs. Cover and refrigerate until needed.

To make the rolls, in a stand mixer fitted with the paddle attachment, combine 2 cups of the flour, the yeast, granulated sugar and salt. Add the hot milk and beat on medium speed for 1 minute. Add the butter, eggs and ¼ cup of the flour and beat for 1 minute. Switch to the dough hook. Beat in the remaining flour, ½ cup at a time, until the dough pulls away from the sides of the bowl. Knead on low speed until soft, smooth and springy, about 5 minutes. Transfer to an oiled deep bowl and turn once to coat. Cover loosely with plastic wrap and let rise at room temperature until doubled in bulk, 1 ½ to 2 hours.

Butter the bottom and sides of a 9-by-13-inch baking pan. Turn the dough out onto a lightly floured board. Roll out into a 14-by-10-inch rectangle. Sprinkle evenly with the streusel filling, leaving a 1-inch border along the long edges. Sprinkle with the raisins and pecans, pressing them in lightly to adhere. Beginning with the long end, roll up jelly-roll fashion; it will be bulky. Pinch the long seam to seal but leave both ends open. Using a serrated knife, gently cut the roll crosswise into pieces 1 ½ inches thick. Arrange, cut sides down and rolls just touching, in the prepared pan. Cover loosely with plastic wrap and let rise at room temperature until puffy, about 1 hour. Alternatively, cover with a double layer of plastic wrap and refrigerate to rise for 2 to 24 hours. Remove from the refrigerator 30 minutes before baking.

Preheat an oven to 375°F.

Brush the tops of the rolls with some of the milk. Bake until golden brown, 25 to 30 minutes. Remove from the oven and brush with the milk once more. Using a spatula, remove the rolls from the pan and place them, bottom side up, on wire racks. Let cool for 15 minutes, then invert the rolls onto a serving plate. Pull apart and server with butter.