Make the Dough: Place milk in a microwave safe measuring cup. Heat for 30-45 seconds in the microwave, until it’s about 110 degrees. Add yeast and stir. Let it sit for a few minutes.
Place sugar, butter, salt, and egg in the bowl of a stand mixer fitted with the paddle attachment. Mix until the butter is distributed throughout the liquids, although it may be chunky. Pour in the milk/yeast mixture and stir for a few seconds.
Add flour and stir with the paddle attachment just until the mixture starts to stick to the paddle. Then replace the paddle with the dough hook. Continue mixing on low speed until the dough forms a ball in the center of the bowl.
Spray a large bowl with cooking spray and place the dough ball in it. Spray the top of the dough ball with cooking spray (lightly) and cover the bowl with plastic wrap. Let sit for 2-4 hours until it doubles in size.
Note on rising: if your house is warm, it should rise no problem. If it’s cold in your house, it may take longer for the dough to rise, so plan accordingly!
Prepare your Rolls: Stir together butter, brown sugar, flour, and spices until it forms a paste.
Once the dough is risen, roll it out on a lightly floured surface into a large rectangle, about 12” by 9”. Spread the filling as evenly as possible over the rectangle, making sure to reach to the sides so the outer rolls have enough filling.
Roll the dough up tightly from the long end. Slice it into 9 equal rounds. Place the rolls into a 9” pan or 9 1/2” round pie plate that has been sprayed with cooking spray.
At this point, you can let them rise for about 30 minutes-1 hour until they are swelling up in the pan and bake as directed. Or you can do what I do: cover with plastic wrap and stick in the refrigerator overnight until ready to bake.
When ready to bake, preheat oven to 350 degrees. If the rolls have been in the refrigerator, remove them and let them warm up while the oven is preheating. Remove the plastic wrap and bake for 20-25 minutes, or until they are golden brown.
Make the frosting: Mix cream cheese, butter, and maple syrup with a hand mixer until well blended. Mix in powdered sugar and cinnamon until smooth, stir in vanilla and maple extract. Frost rolls and serve warm.