In a small saucepan, warm the milk and butter over low heat until warm-- no need to use a thermometer.
3/4 Cup Milk, 1/4 Cup Butter
Pour the warm milk into the bowl of a stand electric mixer fitted with the dough hook attachment and add 1 cup of the flour, 3 tablespoons sugar, 1/2 teaspoon salt, yeast, egg, and maple extract.
2 3/4 to 3 Cups Flour, 3 Tablespoons Sugar, 1/2 teaspoon Salt, 1 Tablespoon Active Dry Yeast, 1 Egg, 1 teaspoon Maple Extract
Beat this on low for 2 minutes.
On low speed, gradually add the flour. Once it is all added, beat on medium speed until a soft dough forms.
2 3/4 to 3 Cups Flour
Increase speed to medium-high and beat until the dough is soft and supple, about 6 minutes longer. *If you do not have a stand-mixer with a hook attachment, knead the dough by hand in this step.
Transfer the dough to a lightly floured surface and knead it with your hands for 1 minute. The dough will become smooth an elastic.
Form the dough into a ball and transfer it to a lightly greased bowl.
Cover the dough loosely with plastic wrap, a paper towel, or aluminum foil and let sit in a warm place until doubled in size, about 45 minutes to 1 1/2 hours.
Prepare 2 baking sheets by layering a cooling rack on top of a baking sheet and then line with parchment paper.
Set aside.
To make the filling:
Combine all ingredients in a small bowl.
1/4 Cup Melted Butter, 1/2 Cup White Sugar, 1/2 Cup Chopped Pecans, 1 teaspoon Cinnamon, 1 teaspoon Maple Extract
To assemble the rolls:
After the dough rises, divide it into two pieces. Roll each piece into a 12" circle. Place the first circle on prepared sheet pan. Top the first circle with 1/2 of the streusel mixture and spread it around as thin as you can get it. Find something that is 2" across (like a dixie cup) and center it on the circles (press down a little to make a mark). Using scissors, cut from the outer edge into the cup mark, making 10-12 wedges. Gently lift and twist each section a few times. Tuck the end in just a little so that it stays twisted. Repeat with second piece of dough. Lightly cover this with plastic wrap and let it rise for about 45 minutes to an hour.
Preheat oven to 350 degrees. Bake for 18-22 minutes. Be careful not to burn, you only want the top to be a little bit golden. Remove from oven and let rest about 5 minutes before glazing.
To make the glaze:
Whisk all ingredients until smooth.
1 Cup Powdered Sugar, 2 Tablespoons Melted Butter, 1 to 2 Tablespoons Milk, 1/2 teaspoon Maple Extract, 1/2 teaspoon Vanilla Extract