Step 1: In a large bowl, combine the warm milk, yeast, and 1 tablespoon of the granulated sugar. Let it sit for 5-10 minutes until foamy.
Step 2: Add the remaining granulated sugar, melted butter, egg, salt, and 2 cups of flour. Mix until combined, then gradually add the remaining flour until a soft dough forms.
Step 3: Knead the dough on a floured surface for 5-7 minutes until smooth and elastic. Place in a greased bowl, cover, and let rise in a warm place for 1 hour or until doubled in size.
Step 4: While the dough rises, prepare the topping. Mix the maple syrup and 1/4 cup of softened butter in a small saucepan over low heat until melted. Pour into a 9x13 inch baking dish and sprinkle with 1 cup of pecans.
Step 5: Punch down the risen dough and roll it into a 12x18 inch rectangle. Spread the remaining 1/2 cup softened butter over the dough, then sprinkle with brown sugar, cinnamon, and the remaining 1/2 cup pecans.
Step 6: Roll the dough up tightly from the long edge and slice into 12 even rolls. Place the rolls in the baking dish on top of the maple mixture.
Step 7: Cover and let rise for another 30-45 minutes. Preheat your oven to 350°F (175°C).
Step 8: Bake for 25-30 minutes until golden brown. Let cool for 5 minutes, then carefully invert the pan onto a platter to serve.