Step 1: In a large bowl, combine the warm milk, 1 tablespoon of the sugar, and the yeast. Let it sit for 5-10 minutes until foamy to start your apple and pecan cinnamon rolls.
Step 2: Stir in the remaining sugar, melted butter, and egg. Gradually add the flour, kneading by hand or with a stand mixer until a smooth dough forms.
Step 3: Place the dough in a greased bowl, cover, and let rise in a warm place for 1-1.5 hours or until doubled in size.
Step 4: While the dough rises, lightly sauté the diced apples in a pan with a pinch of cinnamon for 3-5 minutes until slightly softened but still crisp.
Step 5: Punch down the risen dough and roll it out on a floured surface into a 12×18 inch rectangle.
Step 6: Spread the softened butter over the dough. Sprinkle with brown sugar, cinnamon, sautéed apples, and chopped pecans.
Step 7: Roll the dough tightly into a log and cut into 12 even pieces using dental floss or a sharp knife.
Step 8: Place the apple and pecan cinnamon rolls in a greased 9×13 baking dish. Cover and let rise for another 30-45 minutes.
Step 9: Bake at 350°F (175°C) for 20-25 minutes until golden brown. Whisk the glaze ingredients together and drizzle over the rolls while still warm.