To prepare dough, dissolve 1 teaspoon granulated sugar and yeast in 3/4 cup warm water; let stand 5 minutes. Combine 1/3 cup granulated sugar, 3 tablespoons butter, salt, and egg in a large bowl. Add yeast mixture; beat with a mixer at medium speed until blended.
Lightly spoon flour into dry measuring cups; level with a knife. Gradually add 3 cups flour to yeast mixture, beating mixture on low speed until a soft dough forms. Turn dough out onto a lightly floured surface. Knead until smooth and elastic (about 5 minutes); add enough of remaining flour, 1 tablespoon at a time, to prevent dough from sticking to hands. Place dough in a large bowl coated with cooking spray, turning to coat top. Cover and let rise in a warm place (85°), free from drafts, 1 hour or until doubled in size. Punch dough down; turn out onto a lightly floured surface.
To prepare filling, combine brown sugar, cinnamon, and rind in a small bowl. Roll dough into a 15 x 10-inch rectangle; brush with 2 tablespoons butter. Sprinkle brown sugar mixture over dough, leaving a 1/2-inch border. Sprinkle dates and pecans over sugar mixture. Beginning with a long side, roll up jelly-roll fashion; pinch seam to seal (do not seal ends of roll). Cut roll into 18 (1/2-inch) slices. Place slices, cut sides up, in a 13 x 9-inch baking pan coated with cooking spray. Cover and let rise in a warm place (85°), free from drafts, about 1 hour or until rolls have doubled in size.
Preheat oven to 375°.
Uncover dough. Bake at 375° for 20 minutes or until rolls are golden brown.
To prepare glaze, combine powdered sugar, syrup, and milk in a small bowl; stir with a whisk until smooth. Drizzle glaze over warm rolls. Serve immediately.