Easy Homemade Bread Machine Cinnamon Rolls

Ingredients

• 2/3 cup whole milk
• 1/3 cup maple syrup
• 1/3 cup butter, softened
• 1 large egg, room temperature
• 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 whole milk