The victory was the first for Dodge since the late Bobby Hamilton won at Mansfield in 2005, and the truck Setzer won in is co-owned by Hamilton's widow, Lori.
"The emotions are running high right now," Lori Hamilton said. "We always said after Bobby passed away that if we could build it, then we'd do it in honor of him."
Matt Crafton finished second, followed by Rick Crawford, Ken Schrader and Erik Darnell.
Crafton's best previous finish was third.
GRAND-AM ROLEX SERIES: In Homestead, Fla., Scott Pruett and Memo Rojas extended their points lead in the sports Car Series, winning their second consecutive race by taking the Grand Prix of Miami.
The duo combined to lead 51 laps at Homestead-Miami Speedway in the No. 01 Lexus Riley Daytona Prototype, including 41 for Pruett, to win the 99-lap race by 1.645 seconds for the Chip Ganassi with Felix Sabates team.