Add flour, yeast, sugar, and salt to a large bowl. Mix well.
Pour in warm milk, egg, and softened butter. Stir until dough forms.
Knead for about 8 minutes until soft and smooth.
Place dough in a greased bowl. Cover and let rise until doubled, about 1–1½ hours.
Melt butter in a saucepan. Stir in maple syrup, brown sugar, and salt until smooth.
Pour glaze into a greased baking dish. Sprinkle chopped pecans evenly over the top.
Roll dough into a rectangle. Spread butter over the surface.
Sprinkle brown sugar and cinnamon evenly.
Roll dough tightly into a log. Slice into equal rolls.
Place rolls cut-side down over the maple pecan glaze.
Cover and let rise again for 30–40 minutes.
Bake at 350°F (175°C) for 30–35 minutes until golden and bubbly.
Let rest 5 minutes, then flip onto a serving plate while warm.