In a large bowl, dissolve yeast and sugar in warm milk. Let stand for 5 minutes, until foamy.

Add salt, egg, and melted butter. Mix well.

Gradually add flour, mixing until a dough forms. Turn dough out onto a lightly floured surface and knead for 5-7 minutes, until smooth and elastic.

Place dough in a greased bowl, turning to coat. Cover and let rise in a warm place for 1 hour, or until doubled in size.

In a bowl, combine brown sugar, maple syrup, bacon, bourbon, cinnamon, and softened butter. Mix until well combined.

Roll out the dough on a lightly floured surface into a 12x15 inch rectangle.

Spread filling evenly over the dough. Roll up tightly, starting from a long side.

Cut into 1.5-inch thick rolls and place in a greased baking dish.

Cover and let rise for 30 minutes.

Preheat oven to 350°F (175°C). Bake for 20-25 minutes, or until golden brown.

While rolls are baking, make the glaze: In a bowl, beat cream cheese, maple syrup, powdered sugar, and bourbon until smooth.

Let rolls cool slightly before drizzling with glaze.