Activate yeast in warm milk in a mixing bowl, then stir in sugar, melted butter, eggs, and vanilla until combined. The mixture should look creamy and slightly foamy where the yeast is active.

Knead in flour and salt for 8 minutes until the dough is smooth and elastic, pulling away from the sides of the bowl.

Cover and rise for 1 hour, until doubled in size and airy.

Roll the dough into a 12x18 rectangle on a lightly floured surface. Spread the dough out evenly to the corners for even rolls.

Spread softened butter over the dough, then sprinkle brown sugar and cinnamon across the surface. Scatter the cooked, crumbled bacon evenly so each roll gets some filling.

Roll the dough tightly into a log and pinch the seam to seal. Slice into 12 rolls with clean, even spacing.

Arrange the rolls in a greased 9x13 baking dish and cover, then rise for 45 minutes until puffy and touching.

Bake at 375°F for 22-25 minutes, until the tops are golden and the centers look set.

Bake the bacon strips on a sheet pan at 375°F for 15 minutes, glazed with maple syrup partway through until candied. Let cool briefly, then crumble the bacon.

Beat the maple glaze by whisking powdered sugar, pure maple syrup, milk, and vanilla until smooth and pourable.

Drizzle the glaze over the warm rolls and immediately scatter the candied bacon crumbles on top for sticky, crunchy contrast.