Activate yeast by warming the milk, then whisk in sugar, melted butter, eggs, and vanilla until smooth, with small bubbles starting to appear. Knead in flour and salt for 8 minutes until the dough looks elastic and cohesive, with a slightly tacky feel.

Rise the dough for 1 hour, covered, until doubled in size and noticeably puffy, then roll it into a 12x18 rectangle.

Spread the softened butter over the dough, then sprinkle with brown sugar, cinnamon, and the crumbled cooked bacon to create an even sticky layer.

Roll tightly from the long edge into a log, then cut into 12 rolls and arrange them in a greased 9x13 dish.

Rise the rolls for 45 minutes, covered, until they look swollen and touch each other in the dish with a light, airy spring.

Bake the rolls at 375F for 22-25 minutes until deep golden on top and set in the center, with the edges beginning to caramelize.

Bake the candied bacon strips at 375F for 15 minutes, then allow them to cool just enough to crumble, with a lacquered, crisp surface. Glaze with 2 tablespoons maple syrup during baking so the bacon turns shiny before crumbling.

Beat the maple glaze ingredients together until smooth and pourable, forming a glossy ribbon when lifted.

Drizzle the glaze over the warm rolls and scatter the crumbled candied bacon on top so it sticks to the sticky surface.