Preheat the oven to 350°F.
Coat a 9 × 13-inch baking pan with nonstick cooking spray.
To make the streusel filling, combine the brown sugar, cinnamon, and pecans in a small bowl, and set aside.
To make the cake, sift the cake flour, sugar, baking powder, and salt together in the bowl of an electric mixer. Add the oil, ¾ cup of the milk, the vanilla, and lemon juice, and, using the paddle attachment, beat for 2 minutes at high speed.
Add the remaining ¼ cup milk and the eggs; beat for 2 minutes longer. Pour two-thirds of the batter into the prepared pan. Sprinkle the batter evenly with the streusel filling, then spoon the remaining batter evenly over the filling. Bake for 28 to 33 minutes, or until a toothpick inserted in the center of the cake comes out clean. The cake will bounce back when lightly touched with a finger. Allow the cake to cool for 25 minutes in the pan. Run a knife around the edges, invert onto serving plate or cooling rack, and cool completely.
To make the glaze, whisk together the confectioners’ sugar, milk, and lemon juice in a small bowl until smooth. Drizzle the glaze over the cooled cake.