To prepare the dough:

1. In the bowl of a stand mixer or a large bowl, sprinkle the yeast over top of the lukewarm milk. Allow the yeast to dissolve, about 5 minutes. Stir in the butter, egg, and maple syrup until smooth. Add about half of the flour plus the salt into the yeast mixture and stir until combined. Pour in the remaining flour and knead in the bowl using the dough hook attachment until smooth and slightly tacky, about 7 minutes. If you notice your dough isn’t pulling away from the sides of the bowl or it’s too wet, add flour 1 tablespoon at a time until the dough pulls away from the sides of the bowl and forms a little dough “tornado” around the dough hook. Once done kneading, place the dough into a large lightly greased bowl and cover tightly with plastic wrap to double in size, about 1-1/2 hours.
2. Once the dough has risen, dump it out onto a lightly floured surface. Use a floured rolling pin to roll it into a large rectangle about 11”x21” in size. Pour the melted butter for the filling on top of the rolled out dough and spread it out over top. Combine the cinnamon and brown sugar and sprinkle evenly over the buttered dough. Sprinkle on the chopped pecans as well. Starting with one of the long ends, tightly roll the dough from end to end and pinch the edges together to seal. Cut the dough into about 1-1/2” sections and lay them out spiral side up in a lightly greased sheet pan or baking dish, about 2” apart. Alternatively, you can bake them in greased muffin tins as well. Cover with plastic wrap and allow to rise again, about 40 minutes.
3. In the meantime, preheat the oven to 350 degrees. Once preheated, bake in the oven for about 20 minutes or until the edges are barely golden and the internal temp of a roll is 190 degrees. Remove from the oven and prepare your frosting.

To prepare the frosting:

1. Stir the butter, maple syrup, salt, and powdered sugar together with an electric hand mixer. Add milk 1 tablespoon at a time until the desired consistency is reached. Spread the frosting over the warm rolls and enjoy!