Preheat the oven to 350°F (175°C). Line a large baking sheet with parchment paper.
Add the melted butter, maple syrup, vanilla extract, cinnamon, and salt to a small bowl. Stir until well combined.
Place the pecan halves in a large mixing bowl and pour the maple mixture over them.
Gently toss the pecans until they are evenly coated with the maple glaze.
Spread the coated pecans onto the prepared baking sheet in a single layer.
Bake for 12–15 minutes, gently stirring once or twice during baking to encourage even toasting.
Remove from the oven when the pecans are golden, fragrant, and lightly glazed.
Allow the pecans to cool completely on the baking sheet. The glaze will become firmer and crunchier as they cool.
Break apart any pecans that have stuck together and serve or store in an airtight container.