Maple Cinnamon Rolls

I just made these and they are seriously heavenly.  They are so good that I am actually going to delete my previous cinnamon roll recipe!

Ingredients

• 2/3 cup milk
• 1/3 cup maple syrup
• 1/3 cup butter, softened
• 1 egg
• 3/4 teaspoon salt
• 3 cups bread flour
• 1 package (1/4 ounce) active dry yeast
• TOPPING:
• 1/2 cup packed brown sugar
• 2 tablespoons bread flour
• 4 teaspoons ground cinnamon
• 6 tablespoons cold butter
• MAPLE ICING:
• 1 cup confectioners' sugar
• 3 tablespoons butter, melted
• 3 tablespoons maple syrup
• 1 to 2 teaspoons milk

Directions

• Warm milk and add yeast and 1 tsp. of sugar.  Let sit until foamy.  In your mixer, add the butter and maple syrup.  Mix well.  Add egg, salt, flour and yeast.  On low speed, with a dough hook, let it knead for 10 minutes.  Let rise until double.
• Turn dough onto a lightly floured surface. Roll into two 12-in. x 7-in. rectangles. In a small bowl, combine the brown sugar, flour and cinnamon; cut in butter until mixture resembles coarse crumbs. Sprinkle half over each rectangle. Roll up jelly-roll style, starting from a long side; pinch seam to seal.
• Cut each roll into slices. Place cut side down in one greased 13-in. x 9-in. baking pan. Cover and let rise in a warm place until doubled, about 20 minutes.
• Bake at 375° for 20-25 minutes or until golden brown. Cool on a wire rack for 5 minutes. Meanwhile, in a small bowl, combine the confectioners' sugar, butter, syrup and enough milk to achieve desired consistency. Spread over warm rolls.