Microwave milk and butter for 60-90 seconds. Stir. Butter should be melted. Let cool until it's warm, but not HOT.
In a large mixing bowl, combine flour, yeast, sugar and salt; mix well. Add water, egg and the milk mixture; mix well.
When the dough has just pulled together, turn it out onto a lightly floured surface and knead until smooth for a couple of minutes.
Cover the dough with a damp cloth and let rest for 10 minutes.
Meanwhile, in a small bowl, mix together brown sugar, cinnamon, softened butter. It should be the consistency of frosting.
Roll out dough into a 12x9 inch rectangle.
Spread dough with butter/sugar mixture. Sprinkle with pecans.Fold dough in half and slice into 12 strips.Twist each strip a few times then roll it into a spiral shape and tuck the end underneath. Place knots on a baking sheet lined with parchment paper or sprayed with non stick cooking spray.Cover and let rise until doubled, about 30 minutes. Preheat oven to 375 degrees F.
Bake in the preheated oven for 20 minutes, or until browned.
While knots bake, make the glaze. Mix ingredients together then beat until fluffy.
Let cinnamon knots cool 5-10 minutes. Drizzle with maple glaze.