Add the yeast to the warm milk and let it sit for five minutes, until it starts to foam.
Using the paddle attachment, mix the butter, 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 an additional cup. I only needed 2 cups, but you can use up to an extra 1/2 cup if you need, for the dough to come together). 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. (It helps if you do this in a warm place. My dough didn’t quite double, but it still worked!)
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.
Add all filling ingredients (except bacon) to a small bowl and stir with a fork. It helps if the butter is soft! Set aside until ready to use.
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. Spread the filling evenly in the center and sprinkle with your bacon. Starting at a short end, roll the dough tightly. Slice into thirds and then thirds again, for a total of nine cinnamon rolls. Place in a 9x9” baking dish that has been sprayed with cooking spray. (You can also slice them into 12 pieces and use a 9x13" pan for smaller rolls.)
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 until golden.
While the rolls are baking, make the frosting. Beat together butter and powdered sugar. Mix in maple syrup and both extracts until smooth. Spread on warm cinnamon rolls. Sprinkle with extra bacon, if desired.