Preheat the oven to 375 degrees. Spray a muffin pan with cooking spray.

To make the filling combine pecans, brown sugar, cinnamon, vanilla, and salt in a bowl.

Add milk, butter, and flour and stir to combine. Set aside.

To make the dough place the flour, baking powder, cinnamon, and salt in a large bowl.

Add the milk, sugar, oil, vanilla, and eggs in a large bowl and whisk together.

Add the flour mixture to the milk mixture and stir until just combined.

Place one tablespoon of dough in each muffin cup. Top with a spoonful of filling. Place another tablespoon of dough on top of the filling.

Bake for 15 minutes or until a toothpick inserted into the center comes out clean.

Remove from oven and cool in the muffin pan for 10 minutes.

Remove from the muffin pan and cool completely on a wire rack.

When the muffins have cooled whisk together the glaze ingredients until smooth. Drizzle over top of muffins and serve.