1. Cook pecans in a Dutch oven over medium-high heat, stirring constantly, 5 to 6 minutes or until toasted. Remove pecans, and wipe Dutch oven clean.
2. Bring juice, milk, and next 3 ingredients to a boil in Dutch oven over high heat; reduce heat to medium-low, and simmer, stirring occasionally, 20 minutes or until thickened. Remove from heat. Cover and let stand 10 minutes. Stir in cinnamon sugar, vanilla, and toasted pecans. Serve immediately.