In a large mixing bowl, combine the warm milk, granulated sugar, and active dry yeast. Stir gently and let it sit for about 5 minutes.
Add the melted butter, large egg, and salt to the yeast mixture. Mix everything together until well combined.
Gradually add the all-purpose flour, stirring until a soft dough forms. Knead the dough for about 5 minutes until smooth and elastic.
Place the dough in a greased bowl, cover it with a kitchen towel, and let it rise in a warm place for about 60 minutes, or until it doubles in size.
In a small bowl, mix together the crumbled bacon, brown sugar, and ground cinnamon for the filling.
Roll out the dough into a rectangle, about 12x18 inches. Spread the maple syrup evenly over the dough, then sprinkle the bacon mixture over the maple syrup.
Starting from one long edge, tightly roll the dough into a log and cut it into 12 equal pieces.
Place the rolls in a greased 9x13-inch baking dish, cover with a kitchen towel, and let them rise for another 30 minutes.
Preheat your oven to 350°F. Bake the rolls for 25-30 minutes, or until golden brown on top.
Prepare the icing by whisking together the powdered sugar, bourbon (if using), and enough milk to reach your desired consistency. Drizzle over the warm rolls.