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Preheat oven to 325 degrees.
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In a small mixing bowl, use a fork to mix together streusel ingredients. Add the chopped pecans and melted butter. Mix until all ingredients are combined. Set aside.
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In a medium bowl, mix together the oil, eggs, sour cream or yogurt, applesauce and vanilla. Add sugar a little at a time until sugar is dissolved. You may use beaters or mix by hand.
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Add the flour, baking powder, and salt. Fold the dry ingredients into the wet and stir till evenly moistened. Do not over-mix.
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Scoop batter into each lined muffin tin. Fill the muffin cups evenly.
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Sprinkle about 2 tablespoons of streusel on the top of each muffin.
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Bake for 25-30 minutes, or until toothpick inserted in center comes out clean. Remove from oven and let cool while making glaze.
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Place powdered sugar, milk, maple flavoring and melted butter into small bowl. Whisk together. Add salt and mix well. Spoon the glaze into a small plastic bag.
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Work the frosting into the corner of the bag and snip off a small corner with scissors. Gently squeeze and drizzle the frosting in a zig-zag pattern across the top of the muffins.