In a small saucepan heat and stir milk, maple syrup, butter, and salt just until warm (110°F to 115°F) and butter almost melts; set aside. In a large bowl combine the warm water and the yeast; let stand for 10 minutes. Add egg and milk mixture to yeast mixture. Stir in whole wheat flour. Stir in as much of the all-purpose flour as you can.
Turn out dough onto a lightly floured surface. Knead in enough of the remaining all-purpose flour to make a moderately soft dough that is smooth and elastic (3 to 5 minutes total). Shape dough into a ball. Place in a lightly greased bowl, turning once to grease surface of dough. Cover and let rise in a warm place until double in size (about 1 hour). Punch down dough. Turn out onto a lightly floured surface. Cover; let rest for 10 minutes.
Meanwhile, lightly grease a 13x9x2-inch baking pan; set aside. In a small bowl combine brown sugar and cinnamon. Stir in dried cranberries and pecans.
Roll dough into a 15x8-inch rectangle. Sprinkle with pecan mixture, leaving 1 inch unfilled along one of the long sides. Starting from the long filled side, roll up rectangle. Pinch dough to seal seam; slice into 15 equal pieces. Arrange pieces, cut sides up, in prepared baking pan. Cover and let rise in a warm place until nearly double in size (about 30 minutes).
Preheat oven to 375°F. Bake for 25 to 30 minutes or until golden brown. Cool in pan on a wire rack for 5 minutes. Remove rolls from pan. If desired, drizzle with Maple-Brown Sugar Icing. Serve warm.
In a small bowl combine brown sugar and the hot water; stir to dissolve brown sugar. Stir in powdered sugar and maple flavoring. Stir in enough milk to make drizzling consistency.