In a large bowl, dissolve yeast in warm water. Add milk, shortening, sugar, egg, salt, maple flavoring, cardamom and 2 cups flour. Beat until smooth. Stir in enough remaining flour to form a soft dough.
Turn onto a floured surface; knead until smooth and elastic, about 6-8 minutes. Place in a greased bowl, turning once to grease top. Cover and let rise in a warm place until doubled, about 1 hour.
Meanwhile, grease a baking sheet or 14-in. pizza pan or line with foil. For filling, combine the brown sugar, pecans, cinnamon and maple flavoring; set aside.
Punch dough down. Turn onto a lightly floured surface; divide into thirds. Roll each into a 14-in. circle; place one on prepared pan. Spread with a third of the butter; sprinkle with a third of the filling. Top with a second circle of dough; top with butter and filling. Repeat. Pinch to seal.
Carefully place a glass in center of circle. With scissors, cut from outside edge just to the glass, forming 16 wedges. Remove glass; twist each wedge five to six times. Pinch ends to seal and tuck under. Cover and let rise until doubled, about 30 minutes.
Bake at 375° for 25-30 minutes or until golden brown. For glaze, combine the sugar, maple flavoring and enough milk to achieve desired consistency; set aside.
Carefully remove bread from pan by running a metal spatula under it to loosen. Transfer to a wire rack. Drizzle with glaze. Cool completely or serve while slightly warm.