Make the Dough:
In a small bowl, mix warm milk and yeast. Let sit for 5 minutes until foamy.
In a large mixing bowl, combine the sugar, melted butter, eggs, and yeast mixture. Gradually add flour and salt, mixing until a soft dough forms.
Knead the dough on a floured surface for 8-10 minutes until smooth and elastic. Place in a greased bowl, cover, and let rise in a warm place for 1 hour or until doubled in size.
Prepare the Filling:
In a small bowl, mix softened butter, brown sugar, cinnamon, and bourbon into a paste.
Assemble the Rolls:
Roll the dough into a 16x12-inch rectangle. Spread the cinnamon-bourbon mixture evenly over the dough, then sprinkle with crumbled bacon.
Roll the dough tightly from the longer side into a log. Slice into 12 equal rolls and place in a greased 9x13-inch baking dish. Cover and let rise for 30 minutes.
Bake the Rolls:
Preheat oven to 350°F (175°C). Bake the rolls for 20-25 minutes, or until golden brown.
Make the Glaze:
In a saucepan, melt butter over medium heat. Stir in maple syrup and bourbon. Remove from heat and whisk in powdered sugar and vanilla until smooth.
Finish and Serve:
Drizzle the glaze over the warm rolls. Serve immediately and enjoy!