Prepare the Dough:

Activate the Yeast: In a small bowl, combine the warm milk and granulated sugar. Sprinkle the yeast over the top and let it sit for about 5-10 minutes, or until foamy.

Mix Dough Ingredients: In a large mixing bowl, combine the melted butter, salt, and egg. Add the foamy yeast mixture and mix well. Gradually add 2 cups of flour, mixing until a soft dough forms. If the dough is too sticky, add more flour as needed.

Knead the Dough: On a floured surface, knead the dough for about 5 minutes until smooth and elastic. Place it in a greased bowl, cover with a kitchen towel, and let it rise in a warm place for about 1 hour, or until doubled in size.

Prepare the Filling:

Mix Filling Ingredients: In a medium bowl, mix together the softened butter, brown sugar, cinnamon, and crumbled bacon until well combined.

Assemble the Rolls:

Roll Out the Dough: Once the dough has risen, punch it down and roll it out on a floured surface into a rectangle about 1/4 inch thick.

Spread the Filling: Evenly spread the bacon filling over the rolled-out dough.

Roll and Slice: Starting from one long side, tightly roll the dough into a log. Cut into 12 equal pieces and place them in a greased 9x13 inch baking dish.

Bake:

Second Rise: Cover the rolls with a kitchen towel and let them rise for another 30 minutes.

Preheat Oven: While the rolls are rising, preheat your oven to 350°F (175°C).

Bake: Bake the rolls in the preheated oven for 25-30 minutes, or until golden brown.

Prepare the Glaze:

Mix Glaze Ingredients: In a bowl, whisk together the powdered sugar, bourbon, maple syrup, and milk until smooth. Adjust the consistency with additional milk if needed.

Serve:

Glaze the Rolls: Once the rolls are done baking, remove them from the oven and let them cool slightly. Drizzle the bourbon maple glaze over the warm rolls.