For the dough:

1. Heat the milk in a small pot until slightly warm (about 110 degrees).
2. Add the milk and the yeast to a bowl attached to a stand mixer with the dough hook attachment. Let the yeast dissolve and activate for about 5 minutes.
3. Add the egg and mix until just combined.
4. Next, mix in the flour, sugar, vanilla, and salt until combined. Finally, mix in the butter, about a tablespoon at a time. Continue to knead until the dough is thoroughly mixed.
5. Transfer the dough to an oiled bowl and let it rise until it has doubled in size, about 1 hour.

For the filling:

1. Roll out the risen dough to a 1/4-inch rectangle. 
2. Make the filling by beating the brown sugar, butter, bourbon, maple syrup, and cinnamon together. Spread the filling across the rolled dough.
3. Roll out the risen dough to a 1/4-inch rectangle. 
4. Roll and cut the dough by rolling the short side of the rectangle down the long side to form a log.
5. Use a very sharp knife to cut 7-8 1 1/2-inch rolls. For cleaner cuts, wrap dental floss around the roll and pull. 
6. Place the rolls in a greased pan and let rise for 30 minutes. Alternatively, wrap them in plastic wrap and let them rise in the fridge overnight. 
7. Bake at 350 for 20-30 minutes until the top is lightly browned and the center is cooked.

For the frosting:

1. Make the frosting by beating the butter and cream cheese together, then mix in the powdered sugar, maple syrup, and bourbon.
2. Spread the frosting over the cooked rolls and serve!