Combine all ingredients together in a small bowl and set aside.
Grease a 9-inch square or round cake pan. Line bottom with parchment paper and grease again.
In a glass bowl, microwave ¼ cup milk for 15 to 20 seconds until hot but not boiling. Stir in yeast and 1 tsp. of the maple sugar and let sit until mixture is bubbly, about 5 min.
In a large bowl, combine flour, baking powder, salt, and remaining 5 tsp. maple sugar. Stir in yeast mixture, remaining 1 cup milk, and 2 Tbsp. melted butter until a sticky dough forms. Transfer to a well-floured surface and knead about 2 min. until a smooth ball forms. Roll dough into a 12 x 9 inch rectangle with long side facing you. Brush dough with 2 Tbsp. melted butter, leaving a half-inch of the long edge farthest from you un-buttered. Spread filling across dough; press it firmly and evenly into dough. Roll dough away from you into a tight log and pinch seam to seal. Cut log into 8 equal pieces. Set pieces in prepared pan with rolled side facing up and seams facing in. Brush tops of rolls with remaining 2 Tbsp. melted butter. Cover with a towel and let rise for 30 min.
Preheat oven to 350 degrees. Bake rolls uncovered until edges are well-browned, 25 to 30 min. Let cool for 5 min. then loosen edges of rolls from pan and invert onto a large plate. Peel away parchment and reinvert buns onto a wire rack to cool for 5 more min. Drizzle with glaze just before breaking apart and serving.
Whisk ingredients together until smooth. Drizzle over cinnamon rolls while they are still warm.