Combine warm milk, yeast, and sugar, let sit until foamy, then mix in eggs, melted butter, salt, and flour until a soft dough forms; knead until smooth, cover, and let rise 1–1½ hours.
Cook bacon until crisp, crumble, and mix brown sugar with cinnamon; keep butter ready.
Roll risen dough into a 16×12-inch rectangle, spread butter, sprinkle cinnamon-sugar, and top with bacon; roll tightly and cut into 12 pieces.
Arrange rolls in a greased dish, cover, and let rise 30–45 minutes.
Bake at 350°F (175°C) for 25–30 minutes until golden, then cool slightly.
Whisk powdered sugar, maple syrup, milk, vanilla, and salt for glaze, adjusting consistency as needed.
Drizzle glaze over warm rolls, top with extra bacon, and enjoy warm and gooey.