Start by heating your oven to 350°F so it's fully ready by the time your batter is mixed. In your baking dish, stir together the rolled oats, baking powder, and ground cinnamon until they're evenly combined. This step takes less than a minute but sets up the base for everything else.
In a separate bowl, whisk the milk, egg, brown sugar, melted butter, vanilla extract, and salt until fully combined. Take a moment to make sure the sugar is dissolved, since clumps can leave uneven sweetness once baked.
Pour the wet mixture directly into the dish with your oats and stir everything together until no dry spots remain. Use your spatula to spread it into an even layer across the dish so it bakes uniformly from edge to edge.
In a small saucepan over medium heat, combine the chopped pecans, maple syrup, butter, and vanilla extract. Stir occasionally for three to four minutes until the butter melts fully and the syrup thickens slightly into a glaze.
Pour the warm pecan topping evenly over the oatmeal mixture in the baking dish, letting it settle into the surface. Slide the dish into your preheated oven and bake for about 35 minutes, until the top turns golden and the center is just set.
Let the baked oatmeal rest for five minutes once it's out of the oven, since it firms up a little as it cools. Serve it warm straight from the dish, spooning out portions so everyone gets a good mix of oats and pecan topping.