Pour the brown sugar, cinnamon, butter and milk in a small pot.
Add the maple syrup.
Bring to a boil, starting with low temperature until it slowly heats. You can use a thermometer for more precision. They should be ready when it heats to 230°F. If you don’t have a thermometer, just wait about 7 minutes or until it has a golden tone.
Turn heat off. Add the pecans to the pot and mix well before it hardens.
Place the pecans and praline mixture on a non-stick tray or surface. Let them stand about 20 minutes, until firm.