Bacon Cinnamon Rolls with Maple Icing

Ingredients

• 1/2 cup warm water
• 1 tsp sugar
• 1 .25 oz packet active dry yeast
• 1/2 cup milk
• 1/3 cup butter
• 1/4 cup sugar
• 1 egg
• 1 tsp salt
• 3 3/4 cup flour
• 1/2 cup 1 cube butter, softened
• 3/4 cup brown sugar
• 2 tsp cinnamon
• 12 strips bacon
• 1/4 cup maple syrup
• 1/4 cup milk
• 1/2 tsp vanilla
• 1-1 1/2 cup powdered sugar