Impossible Pecan Pie

1 1/2 cups chopped pecans
3/4 cup milk
1/2 cup Bisquick
4 eggs
3/4 cup packed brown sugar
3/4 cup dark corn syrup
1/4 cup butter, softened
1 1/2 teaspoons vanilla extract

Heat oven to 350 degrees F. Grease a 9-inch pie plate.

Sprinkle pecans into plate.

Beat remaining ingredients until smooth. Pour into plate. Bake until knife inserted in center comes out clean, 50 to 55 minutes. Cool 5 minutes.

Serve warm, topped with ice cream.