In a large mixing bowl or the bowl of your KitchenAid, combine water, 1 tsp sugar, and yeast. Let sit for about 10 minutes, or until foamy.

While the yeast is proofing, add 1/2 cup milk, 1/3 cup butter, and 1/4 cup sugar to a small saucepan over medium-low heat. Stir and cook until milk is warm and butter is melted.

Add milk mixture, egg, and salt to the yeast mixture. Mix until combined. Add the flour about a cup at a time, until dough is no longer sticky. If kneading by hand, knead for about 8 minutes. If kneading with KitchenAid, knead for about 5 minutes. Place dough in an oiled bowl in a warm place covered with plastic wrap or a moist cloth and let rise until doubled, about 45 minutes.

While the dough is rising, cook the bacon until crispy and mix together the ingredients for the filling until well combined.

When dough has risen, punch down and roll out into about an 18×9 inch rectangle on a lightly floured surface. Spread filling evenly over the dough and lay the strips of bacon out. You’re going to be cutting rolls every inch and a half, so keep that in mind as you’re laying out the bacon. You can crumble the bacon and sprinkle over the filling if you prefer.

Roll the dough all the way up “long ways”. Cut the dough into inch and a half wide pieces, this should make about 12 rolls. Arrange in a greased 9×13 inch baking dish and cover with plastic wrap. Let rise until rolls have almost doubled in size and are just pressing against each other.

Preheat your oven to 400 degrees F (200 degrees C). Bake rolls for 15-20 minutes, or until tops are golden brown.

While the rolls are baking, make the icing. Whisk together maple syrup, milk, and vanilla until combined. Add the powdered sugar 1/2 cup at a time until it reaches desired consistency.

Pour icing over hot rolls and serve after cooling for about five minutes.