Grease and line the casserole pan with parchment paper.

Whisk together 2 cups of the flour, the yeast and salt.

Combine the milk, butter and maple syrup in a microwave safe bowl. Microwave in 30 second increments until the mixture is between 125F° and 130F°.

Add the warmed milk mixture and the egg to the dry mixture, stir with wooden spoon.

Add 2 more cups of the flour, mix with the wooden spoon. The mixture should be thick and sticky.

On a floured surface knead the dough with another ½ cup of flour. Knead until dough is smooth, soft and tacky.

Let dough rest uncovered for 15 minutes.

In a medium bowl, combine the brown sugar, cinnamon, softened butter and salt into a paste.

Roll out dough on a floured surface into a rectangle 22" x 13".

Spread the filling over the dough evenly, leaving a half inch strip at the top edge without filling.

Sprinkle chopped pecans evenly over surface.

Brush a small amount of water along the uncovered strip using your fingers.

Roll up dough, then using dental floss cut into 12 even rolls.

Place rolls into the prepared casserole dish. Cover it with a clean dish towel and let proof for 1 hour.

Preheat oven to 350F°. Bake rolls for about 30 minutes, or until the tops are lightly browned.

In a small bowl, whisk the maple syrup, heavy cream, powdered sugar, vanilla and salt until smooth.

Once the rolls have cooled, drizzle icing over the top and sprinkle chopped pecans.