Heat milk to between 100-110°F, approximately 30-40 seconds in the microwave. Add the yeast and 1 teaspoon of the sugar to the warm milk and let it sit for five minutes, until it starts to foam. (Just take the teaspoon of sugar from the ⅓ cup called for.)
Using the paddle attachment, mix the butter, remaining sugar, salt, and eggs in the bowl of a mixer. Add the yeast/milk mixture and stir.
Switch to the dough hook. Add the flour slowly. Start with one cup and then add the rest. The dough will be sticky, but not so much that you can’t handle it.
Once dough comes together, spray a large bowl with cooking spray, place the dough inside and cover with plastic wrap. Allow to rise until doubled in size, about 1-2 hours.
While the dough is rising, prepare the filling. Dice the raw bacon. Place in a medium sized frying pan and cook about 10-15 minutes, stirring occasionally, until browned or until it’s the doneness you prefer. Transfer to a plate covered with paper towels to drain.
Stir together brown sugar and cinnamon.
Once the dough is ready, roll it into a rectangle (about 10x14 inches). You may need to use a little flour when rolling, that’s okay. Brush the rectangle with melted butter and sprinkle with cinnamon sugar mixture, then sprinkle with bacon. Roll the dough tightly. Slice in half, then each half in thirds to make 12 rolls. Place in a 9x13-inch baking dish that's been sprayed with nonstick cooking spray.
Let the rolls rise for 1 hour at room temperature. If you are eating them right away, proceed to baking. Or, you can then cover with plastic wrap and refrigerate overnight until you are ready to eat. Remove from the refrigerator and let sit on the stove while it is preheating, then bake.
Preheat oven to 350°F. Bake about 2-25 minutes, or until golden.
While the rolls are baking, make the frosting. Beat together butter, cream cheese, and powdered sugar. Mix in maple syrup and both extracts until smooth. Spread on warm cinnamon rolls. Sprinkle with extra bacon, if desired.