Activate Yeast: Combine warm milk and yeast in a small bowl. Cover and let sit for 10 minutes until foamy and active.
Mix Dough: In a large bowl, whisk together the yeast mixture, maple syrup, honey, and melted butter. Gradually add the flour and salt (if using).
Knead: Turn the dough onto a floured surface. Knead for 5–10 minutes until the dough is smooth and elastic.
First Rise: Place dough in a greased bowl. Cover with a damp cloth and let rise in a warm, draft-free spot for 1.5–2 hours, or until doubled in size.
Shape: Punch down the dough and roll it out into a large rectangle (about 1/4 inch thick) on a floured surface.
Fill: Whisk filling ingredients into a smooth paste. Spread evenly across the dough. Cut into strips and roll into swirls.
Second Proof: Place rolls into a greased baking dish. Cover and let rest for 40 minutes.
The Milk Trick: Preheat oven to 180°C. Pour a splash of milk into the bottom of the dish around the base of the rolls (not over the tops).
Bake: Bake for 18–22 minutes until the tops are golden brown.
Frost: Whisk frosting ingredients until smooth. Spread over the rolls while they are still slightly warm to allow some of the glaze to seep into the layers.