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Preheat oven to 350 degrees F.
Lightly mist a 12 cup bundt pan with non stick spray and dust with flour.
Place the filling - brown sugar and the cinnamon in a bowl and set aside.
Sprinkle pecans in the bottom of the pan (optional).
Mix cake mix, pudding, oil, eggs, water, and vanilla extract in an electric mixer on low speed for 1 minute.
Mix for 2-3 more minutes scraping down the sides.
Pour one third of the batter into the prepared pan.
Sprinkle half the cinnamon/sugar filling over the batter.
Pour another one third of the batter into the pan.
Sprinkle the remaining cinnamon/sugar filling.
Pour the rest of the batter in the pan.
Bake for 58-60 minutes.
Let it cool for 20 minutes. Then Run a knife around the edges and invert the cake onto a rack.
Allow it to cool completely.
Prepare the glaze by mixing the sugar, milk, and the extract until smooth.
Place cooled cake on serving platter and drizzle glaze on top.
Slice and serve - enjoy!