Prepare the Dough:
In a small saucepan, warm the milk over medium heat until it’s just lukewarm (about 110°F or 45°C). Remove from heat and stir in the sugar until dissolved. Sprinkle the yeast over the milk and let it sit for 5-10 minutes until it becomes foamy.

Mix the Dough:
In a large mixing bowl, combine the yeast mixture with the softened butter, eggs, flour, salt, and vanilla extract. Stir to combine, then knead the dough on a lightly floured surface for 5-7 minutes until it’s smooth and elastic. Alternatively, you can use a stand mixer with a dough hook to knead the dough.

Let the Dough Rise:
Transfer the dough to a lightly greased bowl, cover it with a clean kitchen towel, and let it rise in a warm place for about 1-1.5 hours, or until it has doubled in size.

Prepare the Filling:
While the dough is rising, cook the bacon in a skillet over medium heat until crispy. Remove and drain on paper towels, then crumble it into small pieces. In a small bowl, mix together the brown sugar, cinnamon, and maple syrup.

Roll Out the Dough:
Once the dough has risen, punch it down and transfer it to a floured surface. Roll the dough into a large rectangle (about 12×18 inches). Spread the softened butter evenly over the dough, then sprinkle the cinnamon-sugar mixture on top. Sprinkle the crumbled bacon evenly over the sugar mixture.

Shape the Rolls:
Starting from the long edge of the rectangle, carefully roll the dough into a tight log. Slice the log into 12 even rolls and place them into a greased 9×13-inch baking dish.

Let the Rolls Rise Again:
Cover the dish with a towel and let the rolls rise for another 30-45 minutes, or until they are puffed up and almost doubled in size.

Preheat the Oven:
Preheat your oven to 350°F (175°C). Bake the rolls for 25-30 minutes, or until golden brown and cooked through.

Prepare the Glaze:
While the rolls are baking, whisk together the powdered sugar, bourbon, maple syrup, milk, and vanilla extract in a small bowl until smooth.

Glaze the Rolls:
Once the rolls are finished baking, remove them from the oven and allow them to cool for 5-10 minutes. Drizzle the bourbon maple glaze generously over the warm rolls.

Serve and Enjoy:
Serve the rolls warm for the ultimate indulgence. Enjoy the smoky bacon, sweet maple syrup, and rich bourbon glaze that make these rolls a unique and flavorful treat.