In a large mixing bowl, combine the warm milk and yeast. Let it sit for 5 minutes until the yeast is activated.
Add the sugar, melted butter, eggs, salt, flour, maple syrup, and cinnamon to the bowl. Mix until a dough forms.
Knead the dough on a floured surface for 5-10 minutes until it's smooth and elastic.
Place the dough in a greased bowl and cover it with a towel. Let it rise in a warm place for 1 hour.
Preheat the oven to 350°F (180°C).
Roll out the dough on a floured surface into a large rectangle.
Spread the softened butter over the dough, leaving a 1-inch border around the edges.
Mix the brown sugar and cinnamon together and sprinkle it over the butter. Add the chopped pecans on top.
Roll up the dough tightly from the long side and cut it into 12 equal pieces.
Place the cinnamon rolls in a greased baking dish and let them rise for 30 minutes.
Bake the cinnamon rolls for 25-30 minutes until they're golden brown.
While the cinnamon rolls are baking, make the glaze by whisking together the powdered sugar, maple syrup, and milk.
Once the cinnamon rolls are done, let them cool for 5 minutes before drizzling the glaze over them.
Serve warm and enjoy your delicious Maple Pecan Cinnamon Rolls!