Preheat oven to 350 degrees F. Spray an 9-by-9-inch baking dish with cooking spray and set aside.
In a large bowl whisk together the oats, cinnamon, baking powder, and salt. In a separate bowl, whisk together the almond milk, maple syrup, egg, orange zest, and vanilla extract until well-combined. Pour the wet ingredients in with the dry and mix until combined; fold in the halved cranberries and chopped pecans.
Pour the mixture into the prepared baking dish and bake for 35-40 minutes or until the top is golden and the oatmeal is set. Let it rest for 5-10 minutes before serving.
While the oatmeal rests, mix together all of the ingredients for the glaze. Drizzle desired amount of glaze over the oatmeal immediately before serving.