Preparation Steps

• In a small bowl, combine warm milk, yeast, and granulated sugar. Let stand for 5-10 minutes until foamy.
• In a large bowl, whisk together flour and salt. Add the yeast mixture and melted butter. Mix until a shaggy dough forms.
• Turn the dough out onto a lightly floured surface and knead for 5-7 minutes until smooth and elastic. Place in a greased bowl, cover, and let rise in a warm place for 1 hour, or until doubled in size.
• While the dough is rising, prepare the filling. In a small bowl, mix together brown sugar, cinnamon, crumbled bacon, and bourbon until well combined.
• Punch down the risen dough and roll it out into a rectangle, about 12x8 inches, on a lightly floured surface.
• Spread the filling evenly over the dough, leaving a small border.
• Roll up the dough tightly, starting from the long edge. Pinch the seam to seal.
• Cut the roll into 12 equal slices.
• Place the cinnamon roll slices into a greased baking dish.
• Cover and let rise for another 30 minutes.
• Preheat oven to 375°F (190°C). Bake for 20-25 minutes, or until golden brown.
• While the rolls are baking, prepare the glaze. In a bowl, whisk together powdered sugar, maple syrup, milk, and vanilla extract until smooth.
• Drizzle the glaze over the warm cinnamon rolls.