Pre-heat oven to 375 degrees and grease 8-inch square baking dish or round cast iron skillet. The skillet makes for a great texture and presentation.
Set aside the ½ tablespoon butter, powdered sugar and milk, these will be used for the glaze
In a small bowl, mix together pecans, brown sugar, butter and cinnamon
Unroll the can of dough into 1 large rectangle and firmly press together the perforations to seal so the filling doesn't seep out later. Spread the filling evenly over the entire rectangle of dough.
Roll the sheet up lengthwise (along the long edge) into a log
Using a very sharp knife slice the log into 8 even sections. You can do this easily by first cutting the log in half, then cutting each half in half and finally cutting each of these four sections in half
Place rolls evenly in baking disk or skillet leaving roughly an inch or so between them. The rolls will expand as they cook and join together a bit. Bake 20 to 25 minutes or until golden brown
While the rolls bake combine glaze ingredients in a small bowl (½ tablespoon butter, powdered sugar and milk)
Add enough milk for desired drizzling consistency and drizzle over the warm rolls and serve!