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1
In a medium bowl or a 2-cup measuring cup, add the sugar, yeast and milk, and let sit for about 10 minutes until the yeast is activated.
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2
Add the flour, salt and melted butter in a mixing bowl with an electric dough hook.
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3
Pour in the yeast mixture and stir with a spatula or a wooden spoon until well mixed.
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4
Knead the dough with the dough hook until an elastic and smooth dough forms, 3 to 5 minutes; you may need to add more milk or flour depending on how sticky the dough is.
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5
Turn onto a lightly floured working surface and knead for another 2 minutes until very smooth.
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6
Coat the large mixing bowl with cooking spray, transfer the dough into the bowl.
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7
Cover with a large of plastic wrap or a damp towel.
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8
Let sit in a warm place for 1 to 2 hours until doubled in bulk.
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9
Punch down dough and knead a few times.
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10
Roll out on a floured surface into a 12 by 6-inch rectangle.
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11
Brush the melted butter over the dough.
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12
Combine the sugar and cinnamon in a small bowl and sprinkle over the butter.
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13
Sprinkle pecans evenly on top.
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14
Start rolling at the long side, roll up the dough and pinch edge together to seal.
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15
Cut into 10 equal rolls.
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16
Butter the bottom of a 8-inch cake pan or a baking pan and sprinkle some sugar at the bottom.
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17
Arrange the cinnamon rolls close together in the pan and allow to double in volume again, about 30 to 60 minutes, depending on how warm the place is.
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18
Preheat the oven to 350F (180C).
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19
Bake for 25 to 30 minutes until golden and brown.
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20
While the cinnamon buns are baking, in a bowl, add the cream cheese, milk, maple syrup, and powdered sugar and stir until well blended.
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21
Stir in a little more milk or icing sugar until the glaze reaches desired consistency.
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22
When the cinnamon buns come out of the oven, spread the cream cheese and maple glaze evenly over the buns to cover them completely.
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23
Let the glaze set, about 1 hour.
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24
Pull into parts and enjoy.
