In a large bowl or the bowl of a stand mixer, combine the flour, yeast and salt.

In a small microwave safe bowl (or glass measuring cup), combine the sugar, butter, water and milk. Heat in the microwave until the mixture is hot and the butter is almost melted (it took about 1 minute 30 seconds on HIGH in my microwave). Gradually add the milk mixture into the flour mixture. Add the egg and mix until a soft and sticky dough forms.

Preheat the oven to 100 degrees (or the lowest setting your oven will do).

If using a stand mixer, switch to the dough hook and set on the lowest mixing setting for 4 minutes or until the dough becomes elastic or knead by hand on a lightly floured surface for 3-4 minutes. Cover the dough with plastic wrap and allow it to rest on the counter for 10 minutes.

Once the dough has rested, roll it out on a lightly floured surface until it measures a 16x9 inch rectangle. Prepare the filling by whisking the brown sugar, cinnamon, cornstarch, and salt in a small mixing bowl. Add the maple syrup and vanilla, whisk to combine.

Spread the butter over the top of the rolled dough, then cover with the filling. Sprinkle the toasted pecans over top. Tightly roll the dough and cut into 9 portions. I like to use dental floss for this.

Place the rolls into a parchment lined 9x9-inch metal baking pan and gently press a piece of aluminum foil over top. Turn OFF your oven and place the covered rolls inside to rise for 30-45 minutes or until doubled in size.

Remove the rolls from the oven and turn ON your oven to 375 degrees. Once heated, remove the foil and bake the rolls for 15-20 minutes or until lightly golden brown in color.

Remove from the oven and allow to cool for a few minutes before frosting. While rolls are cooling, prepare the frosting by combining all of the ingredients in a small mixing bowl and beating by hand or with a hand mixer until smooth. Spread over the tops of the rolls.