Spray counter lightly with non-stick cooking spray. Roll combined rolls into a 24x9-inch rectangle. Cover with plastic wrap and let rest 10-15 minutes.
In a small bowl, combine pecans, brown sugar and lemon peel. Remove wrap from dough and brush middle third with half of the softened butter. Sprinkle buttered area with half of the brown sugar mixture. Fold one of the remaining dough thirds over filling. Brush folded dough with remaining butter. Sprinkle with remaining brown sugar mixture. Fold remaining dough third over filling. Pinch edges to seal.
Cut into 8 equal strips (about 1-inch each). Hold each strip at both ends and twist in opposite directions 2 or 3 times.
Place on a sprayed baking sheet. Cover with sprayed plastic wrap and let rise 30-45 minutes.
Remove wrap and bake at 350°F 10-15 minutes. Combine icing ingredients until smooth. Drizzle over twists.