Heat oven to 350°F. Spray cookie sheet with cooking spray. Make twists as directed on can--except set icing aside.
In small microwavable bowl, place icing. Microwave on Medium (50%) 5 to 10 seconds or until thin enough to drizzle. Stir in cocoa, espresso powder and milk. (If necessary, add additional milk for drizzling consistency.) Immediately drizzle mixture over warm twists.
Sprinkle with pecans.