In a medium size bowl, sift together the fflour, cinnamon and salt. Set aside.
Warm the milk (Anywhere from 110-115 degrees fahrenheit; Milk should not be hot to touch.). Add the sugar, yeast and butter. Let this mixture sit for 5 minutes until the yeast is activated and frothy. Add the wet ingredients to the dry ingredients. Add the egg yolks and mix well, beating with a mixer (using the dough hook attachment) for 3-5 minutes. You can also knead the mixture by hand. Cover the dough and allow it to rise in a warm spot for about 30 minutes or until it has doubled.
After the dough has rise, roll it out into a 10x8" rectangle. Srpead with the softened butter, then sprinkle with brown sugar and cinnamon. Roll up as you would for a jelly roll. Slice the roll into 9 pieces.
To prepare your 8x8 baking pan, spread the bottom and sides of the pan with a coating of butter. Pour in 1/2 cup pure maple syrup into the bottom of the empty pan. Place the rolls, cut side up, into the pan. Cover the rolls with plastic wrap and allow them to rise again until doubled, about another 30 minutes.
Preheat the oven to 400 degrees and bake the rolls for 12-13 minutes.
Once the rolls are baked, invert the rolls onto a plate or cookie sheet. Sprinkle the rolls with the chopped pecans.
In a small bowl, combine the ingredients for the glaze, adding enough milk to make it the consistency for drizzling. Drizzle the glaze on the top of the rolls.