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Preheat oven to 350°F. Grease and flour a 13x9 inch pan or use baking spray with flour and set aside.
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Beat cake mix, oil, eggs and sour cream in a large bowl on medium speed for 2 minutes. Scrape bowl and mix for an additional minute.
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Spread half of the batter into prepared pan.
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In a separate medium bowl, stir together brown sugar, pecans and cinnamon. Sprinkle the brown sugar mixture over batter in pan.
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Drop remaining batter by dollops over brown sugar mixture, then carefully spread to evenly cover the brown sugar mixture completely.
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Bake 40-45 minutes or until golden brown and cake springs back when touched lightly in center.
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In a small bowl, stir powdered sugar, milk and vanilla together until thin enough to drizzle. Spread over top of <g class="gr_ gr_76 gr-alert gr_gramm Grammar only-ins doubleReplace replaceWithoutSep" id="76" data-gr-id="76">cake</g>.
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Store covered.