Take a medium size pot and add your two cups of whole milk, oil and 1/2 cup of sugar. Scald the mixture. Basically you're just going to heat it right before a boil. The sides will become frothy. Take off the burner and let sit until it's lukewarm, it should take roughly 45 minutes.
Add 1 tsp of maple extract and then add the yeast and let it sit for a minute, you will see the yeast beginning to expand. Add four cups of flour and combine. Cover and let rise for an hour.
Add the remaining 1/2 cup of flour, baking powder, baking soda, and salt and mix together.
On a floured surface, roll out the dough until about 1/4” thick. Pour on the melted butter, and let sit for a minute. Next you will spread the sugars out evenly on top of the butter and complete it with cinnamon.
Now it's time to roll. Roll the down towards you. Seal the seams and ends by pinching them.
Grease a few pans (I used one large cake pan and a 9x9) with melted butter or spray.
Take a knife and cut the dough into 1” pieces, laying them in the pan. Let rise for another 30 minutes.
Pre heat oven to 375F while they're rising.
Bake for 20 minutes.
Immediately pour the frosting over the rolls.
Frosting Directions:
Mix together all the ingredients in a bowl until smooth and pourable