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Preheat the oven to 350 degrees F. Spread the pecans on an ungreased baking sheet. Bake until toasted, about 8 to 12 minutes. Finely chop and set aside.
Line a baking sheet with parchment paper.
In a small bowl, stir together the brown sugar, granulated sugar, cinnamon, and salt.
On a lightly floured surface, unfold 1 sheet of puff pastry and roll it to a 10-inch square. Brush with half of the melted butter and sprinkle with half of the sugar mixture.
Tightly roll the pastry up from the bottom, trim the ends, and slice into 8 equal pieces. Arrange on the baking sheet.
Repeat with the second sheet of puff pastry.
Bake for 18 to 22 minutes until golden brown. Let cool.
For the glaze, whisk together powdered sugar, vanilla, and 1 tablespoon milk. Adjust thickness as needed.
Drizzle the glaze over the rolls and sprinkle with pecans. Let set before serving.