Combine brown sugar, flour, cinnamon, maple flavor, and egg in a small bowl; mix well. Add apple and nuts; toss. Unroll dough and separate into 8 rectangles. Press perforations on dough firmly to seal. Spread each rectangle with apple mixture; roll up starting at narrow end.
Place each roll lengthwise with seams toward center of loaf in greased 8 1/2-inch loaf pan, making 2 layers of 4 rolls each. Bake at 350° F for 20 minutes; cover pan with foil and bake 30 minutes longer, removing foil last 5 minutes. Cool in pan 5 minutes, remove and cool thoroughly.
Combine powdered sugar, milk and vanilla extract; drizzle over loaf.Servings: 12