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Preheat oven to 350 degrees F. Grease and flour a 12-cup muffin pan.
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Add flour, pecans, sugar, baking powder, and salt to a large bowl. Whisk to combine.
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Add milk, butter, eggs, and vanilla to a medium bowl. Whisk to combine.
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Pour the liquid mixture into the large bowl of dry ingredients. Stir until just moistened.
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Divide batter equally into the 12 muffin cups.
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Bake for 20 to 25 minutes, until light brown around the edges and a toothpick or cake tester inserted into the middle comes out clean.
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Invert pan to remove muffins. Serve and enjoy!