Preheat your oven to 350°F.
In a medium bowl, whisk together the oil and maple syrup until combined and thickened.
Add in the egg, yogurt, milk, apple sauce, and vanilla and mix again.
Whisk in the baking powder, baking soda, and salt before adding in the flour.
Use a spatula to incorporate the flour into the batter until just combined.
Gently fold in the apples and pecans before transferring to a lined 9 inch springform pan.
Combine all of the streusel ingredients in a small bowl before sprinkling in an even layer across the surface of the cake.
Bake for 45-55 minutes, lightly covering with foil at the 30 minute mark.
The cake is done when the streusel is golden brown and when a toothpick inserted into the center of the cake comes out clean.
Allow the cake to cool in the pan for 30 minutes before transferring to a wire rack to cool completely.
Mix together the glaze ingredients before drizzling over the cake.