Step 1: Prepare the Dough
1. Activate Yeast: In a small bowl, combine warm milk and sugar. Sprinkle the yeast over the top and let it sit for about 5-10 minutes until frothy.
2. Mix Ingredients: In a large mixing bowl, combine the melted butter, egg, vanilla extract, and the yeast mixture. Stir until well combined.
3. Add Dry Ingredients: Gradually add the flour and salt, mixing until a soft dough forms. Knead the dough on a floured surface for about 5 minutes until smooth and elastic.
4. First Rise: 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.

Step 2: Prepare the Filling
1. Mix Filling Ingredients: In a small bowl, mix the chopped bacon, brown sugar, and cinnamon together. Set aside.

Step 3: Assemble the Rolls
1. Roll Out Dough: Once the dough has risen, punch it down and roll it out on a floured surface into a rectangle (about 12×16 inches).
2. Spread Butter: Spread the softened butter evenly over the dough.
3. Add Filling: Sprinkle the bacon and brown sugar mixture evenly over the buttered dough.
4. Roll Up: Starting from one long side, roll the dough tightly into a log. Pinch the seams to seal.
5. Cut Rolls: Slice the log into 12 equal pieces and place them in a greased baking dish.

Step 4: Second Rise
1. Let Rise Again: Cover the rolls with a kitchen towel 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 Maple Bourbon Glaze
1. Mix Glaze: In a small bowl, whisk together the maple syrup, bourbon, powdered sugar, and a pinch of salt until smooth.

Step 7: Glaze and Serve
1. Glaze Rolls: Once the rolls are out of the oven, drizzle the maple bourbon glaze over them while they are still warm.
2. Serve: Allow the rolls to cool slightly before serving. Enjoy warm!