Preheat oven to 450 degrees. Place 2 teaspoons brown sugar, 2 teaspoons butter and 3 pecan halves in each of 12 medium muffin cups. Place in oven to melt butter.
In large bowl, stir Bisquick, banana and peanut butter to form a dough. Gently form into a ball on a floured surface and knead several times. Roll into a 9x15-inch rectangle. Spread with 2 tablespoons butter and sprinkle with 1/4 cup brown sugar and 1/2 teaspoon cinnamon. Roll up, starting at long side, pinching edges to seal.
Cut into twelve equal slices. Place cut side down in muffin cups. Bake 10 minutes. Immediately invert pan onto baking sheet, letting pan sit for a minute to allow all the sauce to drizzle down over the sticky buns. Serve immediately.