Preheat your oven to 350°F (175°C). Line two baking sheets with parchment paper to prevent sticking.

In a large bowl, beat the softened butter and brown sugar on medium speed until light and fluffy, about 2 minutes. Blend in the maple syrup, egg, and vanilla extract, mixing until fully combined. Scrape down the sides of the bowl as needed.

In a separate bowl, whisk together the flour, baking soda, and ground cinnamon. Gradually add the dry ingredients to the butter mixture, blending just until combined.

Using a cookie scoop, measure out 1 1/2 to 2 tablespoons of dough per cookie and roll into balls. Place the dough balls on the prepared baking sheets, spacing them about 2 inches apart. Flatten each ball to about 1/2 inch thick using the bottom of a glass.

Place the cookies in the preheated oven and bake for 10-12 minutes, until set but still soft to the touch. Let the cookies cool completely on the baking sheets.

In a medium bowl, whisk together powdered sugar, maple syrup, and 1 tablespoon of milk until smooth. If the glaze is too thick, add more milk as needed, 1 teaspoon at a time, until it reaches the desired consistency.

Once the cookies are fully cooled, dip the tops into the glaze or spoon the glaze onto the cookies, spreading gently with the back of a spoon.

While the glaze is still wet, sprinkle the tops with roasted chopped pecans or crumbled bacon, if desired, for added texture and flavor.