Combine brown sugar, oats, soy sauce, butter, raisins and chopped pecans in a bowl, set aside. Wash and dry apples. Core apples to remove seeds 1/2 inch from the bottom, making sure not to puncture the bottom of the apples. Tops of apples should be at least 1 inch open. Fill each cavity with the oat mixture. Place apples in a 9×13 Hefty EZ Foil pan. Pour apple juice over the apples, cover with foil to seal the tray. Place on the grill (325°F). Cook until apples are soft but not mushy, about 45 minutes. Spoon juice over the apples and serve with ice cream if desired.