Preheat the oven to 350 degrees and coat the bottom and sides of 10 inch skillet with vegetable oil.
Blend sugar and cinnamon in shallow pan and set aside.
Roll out each biscuit until flattened and thinned.
Dip each flattened biscuit in butter and then in the cinnamon sugar.
Shake off excess and roll up the biscuit, and begin forming a spiral pattern along the outside edge of the pattern.
Continue the pattern working to the center until the bottom of the pan is filled.
Bake for about 20 minutes.
To make glaze, blend powdered sugar, vanilla, and gradually add milk until desired consistency.
Remove the cinnamon rolls from the oven, pour over the glaze, and sprinkle with chopped pecans.