In a small saucepan, heat milk and butter until warm. Remove from heat and stir in yeast and sugar. Let it sit for 5 minutes.

In a large bowl, combine flour and salt. Add the yeast mixture and egg, mixing until a dough forms.

Knead the dough on a floured surface for about 5 minutes until smooth.

Place the dough in a greased bowl, cover, and let it rise in a warm place for about 1 hour or until doubled in size.

Preheat the oven to 350°F (175°C).

Roll out the dough into a rectangle and spread with maple syrup, then sprinkle with brown sugar, cinnamon, and chopped bacon.

Roll the dough tightly and cut into 12 equal pieces.

Place the rolls in a greased baking dish and let them rise for another 30 minutes.

Bake for 20-25 minutes or until golden brown.

Drizzle with additional maple syrup before serving.