In a small sauce pan melt the butter for the dough. Remove from heat and stir in the milk, syrup and yeast. Set aside.

In a large stand mixer fitted with a dough hook, mix together the flour and salt. Drop in the eggs and the butter/milk mixture and mix to combine. If very sticky to the touch add more flour (a tablespoon at a time) until it forms one ball that can easily be handled. Transfer the dough ball to a bowl that's been greased with butter, cover with a clean dish towel and let rise on the counter for at least 30 minutes.

Meanwhile, melt the butter for the filling then stir in the pecans, maple syrup, and cinnamon.

When ready, roll out the dough onto a floured surface to a rectangle about 14X9" in size. Cut and pinch together pieces if needed to make an even rectangle.

Evenly brush the filling mixture over top then, starting on the long side, roll over the dough until the seam side is facing down. Carefully cut pieces between 3/4" and 1" thick and place cut side up in greased baking dish. Reshape as needed. Let rise for another 30 minutes. (At this point you could cover with plastic wrap and store in fridge overnight.)

Preheat the oven to 375 degrees F. Bake until golden brown, about 25 minutes. Mix together the frosting ingredients until smooth and immediately pour over top allowing it to seep down into the crevices. Serve warm.