In a large mixing bowl, stir together water and active dry yeast. Set aside for 5 to 10 minutes or until mixture is foamy.
Meanwhile, in a saucepan, heat and stir sugar, milk, the 6 tablespoons butter, and the salt until warm (120 degree F to 130 degree F) and butter almost melts.
Add about half of the flour, the milk mixture, and eggs to yeast mixture. Beat with electric mixer on low speed for 30 seconds, scraping sides of bowl constantly. Beat on high speed for 3 minutes. Using a spoon, stir in as much of the remaining flour as you can.
Turn dough out onto a lightly floured surface. Knead in enough of the remaining flour to make a moderately soft dough that's smooth and elastic (3 to 5 minutes total). Shape into a ball. Place in a lightly greased bowl; turn once to grease surface. Cover; let rise in a warm place until double (about 1 hour).
For filling, in a bowl, stir together pecans, brown sugar, powdered sugar, and cinnamon. Set aside.
Punch dough down. Divide into fourths. Working with 2 portions at a time, roll each into a 12x9-inch rectangle. Brush one dough rectangle with half of the melted butter; sprinkle with half of the filling. Place second dough rectangle on top of first. Moisten and pinch edges together. Cut stack crosswise into 1-inch slices.
To shape, twist each strip a few times and tie in a loose knot, leaving 2 long ends. Tuck top end under roll. Bring bottom end up and tuck into center of roll. Place on a greased baking sheet. Repeat with remaining dough, melted butter and filling. Cover; let rise until double (50 minutes).
Bake in a 375 degree F oven for 15 minutes or until rolls are golden.
Prepare Powdered Sugar Glaze. Drizzle or brush rolls with glaze while still warm. Makes 24 twists.
In a mixing bowl, stir together sifted powdered sugar, milk and teaspoon vanilla. Add additional milk, 1 teaspoon at a time, to make a drizzling consistency.