I did not use any maple syrup in the glaze. Instead I made a simple sugar glaze. If you want the rolls to be less sweet, you can skip the glaze altogether. I have tried both white and brown sugar for the filling, while both having different flavours and textures, both yield a tasty cinnamon roll, so the choice of sugar is yours.
2 cups milk
1/2 cup oil
1/2 cup white sugar
2 1/4 tsp yeast
4 cups flour + 1/2 cup extra
1/2 tsp baking powder (heaping)
1/2 tsp baking soda (scant)
1/2 tbsp salt (heaping)
1 cup brown sugar
Lots of ground cinnamon
2 cups icing sugar
Water, as required
Mix milk , oil and sugar in a pan. Scald and cool for 45 mins to 1 hour. Sprinkle yeast and let it sit for a minute or two. Add milk mixture to 4 cups flour and mix, making sure there are no dry parts. If the mixture is sticky at this point, don't worry. Let the mixture rise for an hour or until it has doubled in volume.
Now mix 1/2 cup flour, baking soda, baking powder and salt in a bowl and add to the flour mixture. Mix and knead the dough. It will be a very soft and elastic dough.
Sprinkle flour generously on the rolling surface. Put the dough and roll out into a general rectangular direction, almost 1/4 inch thick. Drizzle 1/2 cup of melted butter (you may reduce the amount) and cover the dough surface. Sprinkle brown sugar over the melted butter so that it is evenly spread over the butter. Now sprinkle the cinnamon generously, again making sure it is evenly spread all over.
Starting from the long end away from you, start rolling the dough towards you keeping it relatively tight as you go. Roll the log to turn the seam to the underside of the roll. Cut the roll into 3/4 inch thick pieces.
Brush a baking dish with butter. Place rolls in the dish, leaving space between rolls to allow expansion. Let them rise for another 20 - 30 minutes. Bake in a pre heated oven at 190 C/ 375 F for 15 - 18 minutes.
In a bowl, prepare sugar glaze by adding little quantities of water to icing sugar, until a thick but pouring consistency is achieved. Pour over hot rolls. It will set as the rolls cool down.