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Flatten biscuits onto 2 baking sheets until they are approx. 5 inches in diameter.
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Mix sugar, cinnamon, and pecans in a small bowl. Divide evenly among biscuits, sprinkling mixture over half of each flattened biscuit.
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Fold biscuits in half and pinch edges to seal.
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Bake according to package instructions, until golden brown.
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In a separate bowl, combine powdered sugar, butter, vanilla, and milk. Stir until smooth.
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Drizzle hand pies generously with icing while warm.
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*Filling & Icing recipes adapted from An Occasion to Gather