A mullein. Possibly Woolly mullein (Verbascum phlomoides.)

Yes, or perhaps Verbascum thapsus. They are a biennial.

Second year they will grow a rather tall 4 to 6 ft flower stalk w/small yellow flowers. Afterwards in late fall they will die. I typically let them grow as they are rather attractive.

Both thapsus and phlomoides occur in Wisconsin. Phlomoides has clasping leaves and larger flowers than thapsus.