Preheat oven to 450° F. Place 2 teaspoons butter, 2 teaspoons brown sugar, and 3 pecan halves in each of 12 muffin cups, 2½" diameter by 1¼" deep. Sprinkle cinnamon in each cup. Heat in oven until melted.
Mix Bisquick, applesauce, and milk until dough forms. Beat 20 stokes. Spoon onto mixture in cups. Bake for 10 minutes. Invert on heatproof serving plate.