Make the dough: Place flour, sugar, yeast, and salt in the bowl of a standing mixer and mix until combined. Attach the dough hook to the mixer. Add egg, butter, and milk to the mixer bowl and mix on low speed until dough starts to come together, 2-3 minutes. Continue mixing for another 8 minutes on low-medium speed until dough is soft. If the dough it slightly sticky that’s ok. If it’s very sticky add more flour, a tablespoon at a time, and up to 1/4 cup more.
Make the pecan maple topping: Grease the bottom and sides of a 9×13-inch pan. Spread pecans in the pan. Set aside. Place the rest of the ingredient in a medium saucepan, and bring to a boil. Reduce the heat to medium-low and let the mixture simmer for 3 minutes, whisking occasionally. Remove saucepan from heat, and pour into pan over the pecans. Set aside.
Make the filling: In a small bowl, mix together sugar and cinnamon.
Roll the risen dough into an 18×12 inch (45×30 cm rectangle). Spread the entire surface of dough with softened butter, then sprinkle on the sugar-cinnamon mixture and press gently so it all sticks to the butter. Starting with the longer edge, roll up the dough to form a log and pinch to seal the seam. Cut into 12 equal size pieces and place cut side-up in the pan, on top of the maple pecan topping. Cover and let rest to rise for 30-45 minutes, until almost doubled in size.