Heat the milk in a medium sized saucepan over medium low heat, heating just until the milk starts to steam and form bubbles (it shouldn’t come to a simmer). Pour the warm milk into the bowl of an electric stand mixer fitted with the dough hook.
Add the yeast mixture (it should be foamy) and whisked eggs, mixing until combined.
Gradually add the flour, 1/2 a cup at a time, mixing until the dough pulls away from the side of the bow and the dough is soft and slightly sticky. Continue kneading the dough on medium high speed for about 3-4 minutes.
Spray two pie plates or (8 or 9-inch round) cake pans or one 9x13-inch baking dish with cooking spray. Place the cinnamon rolls evenly in the prepared baking dish, allowing the cinnamon rolls to touch slightly.
Bake the cinnamon rolls for 18-22 minutes or until lightly golden on top. Let the rolls cool slightly in the pan before frosting.
Gradually add the remaining powdered sugar, alternating with the milk, mixing until a thick and creamy glaze is formed. Add additional milk, powdered sugar or maple syrup until desired consistency and maple flavor is reached.
*3 teaspoons maple extract can be substituted for the maple syrup.
Darkness of the glaze will be determined by how much maple syrup or maple extract you use.