Preheat oven to 400 degrees F. In a small bowl, combine the brown sugar, pecans and cinnamon; set aside. Prepare a muffin tin by lining with paper muffin cups, set aside.

In a large bowl, combine the flour, sugar, baking powder, baking soda and salt. In a separate bowl or measuring cup, combine the egg, oil and milk. Gently stir into dry ingredients just until moistened.

Spoon batter into paper-lined muffin cups, filling about 3/4 of the way full. Top each with about 2 teaspoons of the nut mixture. Using a clean butter knife, carefully swirl the nut mixture into the batter.

Bake at 400° for 22-24 minutes or until a toothpick comes out clean. Cool for 5 minutes before removing from pan to a wire rack.

In a small bowl, combine glaze ingredients and whisk until smooth. Drizzle over warm muffins. Serve warm.