1. For the dough: Bring milk to a simmer in a small saucepan. Remove from heat and stir in butter, maple syrup, sugar, vanilla, and salt. Let sit until butter is melted and mixture is lukewarm.
2. Transfer warm milk mixture to a stand mixer fitted with the paddle attachment. Add 2 cups flour, eggs, and yeast and mix on low until combined.
3. Replace the paddle with the dough hook attachment. Add remaining 1 cup flour and knead at medium-low until dough is smooth, elastic, and comes away from the sides of the bowl, 10 to 12 minutes.
4. Turn dough out onto lightly floured surface and knead briefly to form a smooth ball. Transfer to a large greased bowl, cover, and let sit in a warm place until doubled in size, about 1 hour.
5. For the filling: Add all of the filling ingredients to a bowl and stir until combined and spreadable; set aside.
6. Return dough to a lightly floured surface and roll into a 12x18" rectangle. Leaving a 1/2" border all around, spread filling mixture over dough. Starting at a short edge, tightly roll dough into a log. Lightly brush seam area with water and pinch to seal.
7. Using a serrated knife, cut log in half, and then cut each half into 6 equal pieces; transfer to a greased 9x13" baking dish. Cover dish with greased plastic wrap and let sit in a warm place until doubled in size, about 1 hour.
8. Heat oven to 350 degrees. Uncover and bake buns until deep golden brown, 25 to 30 minutes, rotating halfway through. Transfer dish to a wire rack and cool for 10 minutes.
9. For the glaze: Whisk all of the glaze ingredients in a bowl until smooth. Drizzle over buns and let sit another 10 minutes before serving.
Source: Hannaford fresh Magazine, March - April 2016