Preheat oven to 400˚F. Spray 12-cup muffin pan (2-1/2 x 1-1/4 inch cups) with cooking spray or line with paper baking cups.
Combine flour, sugar, baking powder, cinnamon, salt and pecans in a medium mixing bowl. Whisk together pumpkin, egg, oil, milk and vanilla in a separate bowl. Add to flour mixture and stir just until flour is moistened.
Divide batter evenly into prepared muffin cups.
Bake 15 to 18 minutes or until puffed and deep golden brown. Transfer muffins to a wire rack to cool. Serve warm or store in an air tight container.
Recipe Tip: To garnish, sprinkle tops of muffins with coarse sugar and a pecan half prior to baking.