Maple Bacon Cinnamon Rolls are soft and doughy with brown sugar and bacon bits nestled inside rolls drizzled with maple icing. This decadent sweet and savory treat works for breakfast or dessert!
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 1/2-2 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.