In a large mixing bowl, combine 1 cup of flour, sugar, yeast, and salt. In a small saucepan, heat the milk and melted butter until warm (about 110°F). Pour the warm mixture into the dry ingredients. Add the egg and vanilla extract, and mix until well combined. Gradually add the remaining flour until a soft dough forms.
Knead the dough on a floured surface for about 5 minutes until smooth and elastic. Place the dough in a greased bowl, cover with a clean kitchen towel, and let it rise in a warm place for about 1 hour, or until doubled in size.
Preheat your oven to 350°F. Once the dough has risen, roll it out on a floured surface into a rectangle (about 12x8 inches). Spread the brown sugar and cinnamon mixture evenly over the dough, then sprinkle the chopped bacon on top.
Starting from one long edge, roll the dough tightly into a log. Cut the log into 12 equal pieces and place them in a greased baking dish. Cover and let them rise for another 30 minutes.
Bake the rolls in the preheated oven for 25-30 minutes, or until golden brown. While the rolls are baking, whisk together the powdered sugar and milk to create a glaze.
Once baked, remove the rolls from the oven and drizzle with maple syrup. Allow them to cool for a few minutes before drizzling the glaze on top. Serve warm.