Maple Glazed Cinnamon Buns

Ingredients

• 1/2 cup whole milk
• 1 envelope (2-1/4 tsp) active dry yeast
• 1/4 cup water
• 1/3 cup granulated sugar
• 1 large Dakota Layers egg
• 1 tbsp vanilla extract
• 2 1/2 cup all-purpose flour, plus more for dusting
• 1/4 tsp kosher salt
• 1/4 cup unsalted butter, room temperature
• 1/3 cup unsalted butter, melted
• 3/4 cup brown sugar
• 1 tbsp cinnamon
• 3 tbsp maple syrup
• 1 cup confectioners sugar
• 1 1/2 tbsp maple syrup
• 1 tbsp milk