Combine yeast, maple syrup, and warm milk. Let sit about 5 minutes until the surface appears slightly bubbly/frothy.
Add the egg and melted butter, and mix together.
Add salt, then slowly add in flour 1 cup at a time for a total of 3 ½ cups, dough should come together into a tacky ball.
Pull dough out of the bowl and knead into a large ball. Place the ball of dough in a greased bowl, cover with a clean towel and let rise. Let rise until doubled in size, about 1 hour.
Grease a 9x13 baking dish with cooking spray or butter. After the dough has doubled in size, roll out onto a clean surface into a large rectangle.
Combine the maple syrup, brown sugar, pecans and cinnamon then spread in an even layer over the dough.
Cut the dough into 1 ½ inch strips then roll each strip up and place in the baking dish. Cover with a clean towel and allow to rise an additional 30 minutes.
Preheat the oven to 350 degrees. Bake the cinnamon rolls for 30 minutes then remove from the oven and allow to cool.
Notes
Store in an airtight container on the counter for up to two days. If you need to store them longer than that you can refrigerate them.Freeze in a freezer safe ziploc bag for up to 3 months. To thaw, place them in the refrigerator overnight.What if my dough isn’t rising? If your dough isn’t rising you may not have allowed enough time for the yeast to activate in step 1 or it may just be too cold. Try turning your oven on the lowest setting and see if they begin
to rise after 30 minutes.You can eat plain or make a maple icing with 1 cup powdered sugar, 2 tablespoons milk and ½ teaspoon maple extract if desired.