Warm Water and Warm Milk - The temperature should be like warm bath water. If you have a thermometer, around 110F degrees.
In the mixing bowl of your stand mixer fitted with the dough hook attachment, dissolve the yeast in the warm water. Let the yeast sit for 5-10 minutes, or until it becomes foamy and creamy. Note - you can sprinkle a little granulated sugar over the yeast to get it to proof faster. Totally optional.
Add the milk, butter, egg, sugar, 4 cups of flour, and salt. Beat on medium speed until the dough is smooth. If needed, add in the remaining flour, 1 tablespoon at a time. The dough should be soft, but still sticky, and form a ball on the dough hook.
Turn the dough out onto a lightly floured surface and knead for 6-8 minutes, until the dough is smooth and elastic.
Brush all sides of a large bowl with the melted butter. Place the dough in the bowl, turning it to make sure all sides are covered with the melted butter. Cover with plastic wrap and a dry kitchen towel and place in a warm place to proof - for 60 - 90 minutes, or until the dough has doubled in size.
While the dough is proofing - Grease a 9x13-inch baking dish. Set aside. Next, make the filling.
In a small bowl, combine the coconut sugar, cinnamon, and melted butter for the filling.
When the dough is done proofing, punch it down to release the air. Turn the dough out onto a lightly floured surface, and roll into an 12x18-inch rectangle.
Take the softened 2 tablespoons of butter and spread all over the rolled dough with your fingers. Then sprinkle on the cinnamon sugar filling evenly, leaving about 1/2 inch around the edges.
Roll up the dough, starting with the long side at the top. Pinch the finished seam to seal the roll. Using a sharp knife, cut the ends off, then cut the remaining roll into 12 rolls.
Place the rolls in the prepared baking pan. Cover with a dry kitchen towel and let proof again until they have doubled in size - about 30 minutes.
Preheat the oven to 350F degrees and adjust the oven rack to the middle position.
When the rolls are done with their second rise, bake for 25 - 28 minutes, or until golden brown. Note - If cinnamon roll tops appear to be baking faster than the center of the rolls, cover the pan loosely with a piece of aluminum foil.
While the rolls are baking, prepare the glaze. In a small bowl, add the maple syrup, cream cheese, milk, melted butter, and salt. Whisk until fully mixed and smooth. Cover and set in the refrigerator until ready to serve.
Cool the rolls slightly in the pan on a wire rack, then drizzle the glaze over the top and serve warm. Enjoy!