Step 1: Prepare the Dough
1. Activate Yeast: In a large mixing bowl, combine warm milk, sugar, and yeast. Let it sit for about 5–10 minutes until frothy.
2. Mix Ingredients: Add melted butter, eggs, and salt to the yeast mixture. Gradually stir in flour until a dough forms.
3. Knead Dough: Transfer the dough to a floured surface and knead for about 5–7 minutes until smooth and elastic.
4. Let Rise: Place the dough in a greased bowl, cover with a damp cloth, and let it rise in a warm place for about 1 hour or until doubled in size.

Step 2: Prepare the Filling
1. Mix Filling: In a bowl, combine softened butter, brown sugar, and cinnamon. Mix until well combined.
2. Add Bacon: Stir in the chopped cooked bacon.

Step 3: Assemble the Rolls
1. Roll Out Dough: After the dough has risen, punch it down and roll it out on a floured surface into a rectangle (about 16×12 inches).
2. Spread Filling: Spread the cinnamon-bacon filling evenly over the dough.
3. Roll Up: Starting from the long edge, roll the dough tightly into a log. Pinch the seam to seal.
4. Cut Rolls: Cut the log into 12 equal slices and place them in a greased 9×13-inch baking dish.

Step 4: Second Rise
1. Let Rise: Cover the rolls with a damp cloth and let them rise for another 30 minutes until puffy.

Step 5: Bake the Rolls
1. Preheat Oven: Preheat your oven to 350°F (175°C).
2. Bake: Bake the rolls for 25–30 minutes, or until golden brown.

Step 6: Prepare the Bourbon Maple Glaze
1. Mix Glaze: In a bowl, whisk together powdered sugar, maple syrup, and bourbon. Add milk a little at a time until you reach your desired consistency.

Step 7: Glaze and Serve
1. Glaze Rolls: Once the rolls are out of the oven, drizzle the bourbon maple glaze over the warm cinnamon rolls.
2. Enjoy: Serve warm and enjoy the delicious combination of flavors!