Warm milk in the microwave for about 30 seconds until lukewarm. Add yeast and 1 tbsp of sugar to the milk mixture and allow the yeast to bloom/become foamy.
Add yeast mixture, eggs, sugar, melted butter, vanilla extract, flour, cinnamon, and nutmeg to the bowl of a stand mixer with the dough hook. Mix until just combined, about 2-3 minutes.
Scrap the sides of the bottom of the bowl and remove dough from the bowl onto a well floured work surface. Gently knead into a ball. Spray a bowl with oil and add dough - the dough should be very soft. Cover with plastic wrap or a dishcloth and allow the dough to rise until doubled in size, about 1 ½-2 hours.
Preheat oven to 375 degrees F. Place bacon on a baking sheet and bake for 20 minutes, until crispy. Dab bacon with a paper towel to remove oil. Chop into tiny bits.
Mix together the ingredients for the filling by combining room temperature butter, brown sugar, cinnamon, maple extract, and a pinch of salt in a small bowl.
Using a rolling pin, roll dough, lengthwise, into a 12x18 rectangle. Spread filling all over the dough and sprinkle the bacon bits on top (save a tiny bit to sprinkle on top after the rolls are finished baking). Roll into a log. Cut 1 ½-2 inch rolls.
Place each roll in a 9x13 baking dish about 2 inches apart. Cover with a dishcloth. Allow rolls to rise again for about 30 minutes, until slightly puffy.
Bake in the oven for 25-30 minutes.
Make the maple icing by placing butter into the bowl of a stand mixer with the paddle attachment. Beat on medium until light and fluffy, about 3 minutes. Add powdered sugar one cup at a time then add maple extract, vanilla extract, and slowly add milk. *add more or less depending on desired texture. Add a pinch of salt.
Allow rolls to cool then spread icing on top and sprinkle with leftover bacon bits.