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  Make the dough: In a large bowl or in a stand mixer add the flour, yeast and salt. Mix them together so they are distributed evenly, then add the milk, water and maple syrup. Mix until all the flour is combined and you have a sticky dough, making sure you get right into the bottom of the bowl. Cover the bowl tightly with a lid or cling wrap.
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  If you wish to leave the dough overnight (or all day) before baking, leave it out on the counter for 45 to 60 minutes after mixing (no longer), then move it to the fridge and leave it there for anything between 8 to 10 hours.

  If you want to make the speedier version, you can put the bowl somewhere warm and leave it for 1½ to 2 hours. 

  If you have a chilly kitchen (under 19°C/66°F), you can leave it for anything between 3½-4½ hours. 
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  Assemble: Once the resting time has passed, line an 8 x 8 pan (or similar, it doesn't have to be exact) with parchment paper.
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  Take your melted butter and make sure it is cool. Don't use it if it's hot.
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  Mix the cinnamon and sugar together in a small bowl.
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  Dust the top of the dough with a sprinkle of flour and dust your hands too. Pull the dough away from around the edges of the bowl, then pull off chunks of dough about the size of golf balls. Roll them in your hands to neaten them up a bit. Don't worry about being too tidy though. 
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  Dip each ball into the butter, then roll in the cinnamon sugar before placing in the pan. Repeat until all the dough is gone. Make sure all the balls touch each other. They should be nestled snugly.
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  If you have any leftover butter, pour it over the dough in the pan, and spoon any leftover sugar mixture over too. It will be a little sludgy because of the butter getting mixed into it, but that's fine. 
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  Cover the pan loosely with cling wrap or a damp, clean dish towel and place on or next to yout stovetop.
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  Bake: Preheat the oven to 350°F (175°C). Let it preheat for 30 minutes with the dough nearby to benefit from the warmth.
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  After that time uncover the pan and place in the oven. Bake for 26 to 30 minutes until puffy and bubbly.
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  If you like really soft, moist buns, leave them in the pan to cool, or if you prefer them a little less soft and moist, lift them out onto a cooling rack using the parchment paper as handles. Be careful because there could be some hot, sugary drippage.

For the glaze

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  In a small bowl, add the powdered sugar and the vanilla. Gradually add the milk, stirring as you go to work out any lumps. 5 or 6 teaspoons should be plenty to make a thick, drippy glaze.
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  While the bread is still warm and just before serving, drizzle over the frosting very generously.