Whisk together melted butter, maple syrup, brown sugar, spices, and salt until combined. Fold in pecans. Line a muffin tin with muffin liners. Spoon pecans into muffin cups, dividing evenly. 

Preheat oven to 425℉.

In a medium mixing bowl, add sugar, yogurt, oil, and eggs. Whisk well until combined then whisk in milk and vanilla. 

In a separate larger bowl, whisk together flour, baking powder and soda, salt, and spices. Fold in chopped pecans. Use a rubber spatula or wooden spoon to fold wet mixture into dry. Pour batter over the pecan topping until just full. 

Bake muffins for 10 minutes at 425°F then reduce heat to 350℉ and bake for an additional 8 minutes until toothpick inserted comes out clean (a few moist crumbs are ok). Allow muffins to cool in muffin tin for 5 minutes before transferring to wire cooling rack.

While muffins are cooling, make icing by whisking together all ingredients until creamy. To serve, carefully remove muffin liners, flip muffin upside down, and drizzle icing over pecan bottom. Enjoy!