Melt-in-your-mouth Maple Cinnamon Rolls

rise on the counter and it takes about 2 hours. For a tiny reduction in rise time see my answer to Where Should Dough Rise? in my Baking with Yeast Guide.
Grease the bottom and sides of a 913 baking dish or line with parchment paper.
Roll out the dough Punch down the dough to release the air. Place dough on a lightly floured work surface and using a lightly floured rolling pin roll dough into a 1218inch rectangle. Make sure the dough is smooth and evenly thick. If the dough keeps shrinking as you roll it out stop what youre doing cover it lightly and let it rest for 10 minutes to relax the gluten. When you return to the dough it should stretch out much easier.
For the filling Using a handheld or stand mixer fitted with a paddle or whisk attachment beat the butter and maple syrup together on mediumhigh speed until combined and creamy. Add the sugar and cinnamon beating until combined. Spread the maple mixture all over the dough. Tightly roll up the dough to form an 18inchlong log. Cut into 12 even rolls about 1 5 inches each. Arrange in the prepared baking pan.
2nd Rise Cover the rolls tightly and allow to rise until puffy about 90 minutes. Or use the overnight option in the Notes below.
Preheat the oven to 375F 191C.
Bake for about 25 minutes until they are lightly browned on top. About halfway through the bake time tent a piece of aluminum foil over the pan to prevent the tops from browning too quickly. Remove pan from the oven and place pan on a wire rack for about 10 minutes as you make the icing.
Make the icing Whisk all of the icing ingredients together. If its too thin add a little more confectioners sugar. Drizzle
icing over warm rolls.
Cover leftover frosted or unfrosted rolls tightly and store at room temperature for up to 2 days or in the refrigerator for up to 5 days