In a medium bowl, combine warm whole milk and granulated sugar. Sprinkle active dry yeast on top and let it sit for 5–10 minutes.

In a large mixing bowl, whisk together flour and salt. Blend melted butter, eggs, and activated yeast mixture, then combine.

Transfer dough onto a floured surface and knead for about 5 minutes until smooth. Place in a greased bowl and set aside.

Cover with a towel and let rise for 1 hour until doubled.

Prepare filling by mixing brown sugar, ground cinnamon, and beef bacon. Set aside.

After rising, roll out dough into a rectangle, spread softened butter, and sprinkle filling mixture. Roll tight and cut into 12 pieces.

Place rolls in a greased baking dish and let rise for 30 minutes.

Preheat oven to 350°F (175°C). Bake for 20-25 minutes until golden brown.

Whisk together powdered sugar and maple syrup for glaze and drizzle over warm rolls.