Dissolve yeast in warm water. Add milk, potatoes, shortening, sugar, eggs, maple flavoring, salt and 2 cups flour. Beat until smooth. Stir in enough remaining flour to form a soft dough. 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. For filling, combine the sugar, pecans, cinnamon and maple flavoring; set aside. Punch dough down. Turn onto a floured surface; divide into thirds. Roll each portion into a 14 inch circle; place one circle on a greased baking sheet or a 14 inch pizza pan. Spread with a third of the butter; sprinkle with a third of the filling. Top with a second circle of dough spread with butter and top with filling. Repeat with remaining dough. Pinch to seal. Carefully place a glass in the center of the circle. With scissors, cut from outside edge just to the glass, forming 16 wedges. Remove glass; twist each wedge 5 to 6 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. In a small bowl, combine the powdered sugar and flavoring and enough milk to achieve desired consistency; set aside. Carefully remove bread from pan , transfer to a wire rack. Drizzle with glaze.