• Heat the milk, vegetable oil, and sugar in a medium saucepan over medium heat. Make sure it’s really hot, but don’t allow it to boil. Set it aside and cool it to lukewarm.
• Sprinkle the yeast on top and let it sit on the milk for 1 minute. 
• Add 4 cups of the flour. Stir until just combined, cover with a clean kitchen towel, and set aside in a relatively warm place for an hour.
• Remove the towel and add the baking powder, baking soda, salt and remaining ½ cup of flour. Stir thoroughly to combine. At this point, you can either make your cinnamon rolls right away or you can put the dough in the refrigerator for up to 3 days. 
• Place the dough on a floured surface and roll into a large rectangle, about 30×10 inches (if you don't have a big enough surface, you can split the dough into two portions and make two separate rolls). 
• Pour about ¾ cup of the butter over the surface of the dough (save the rest for the pans) and use your fingers to spread the it evenly. 
• Generously sprinkle the ground cinnamon and the cup of sugar over the butter.
• Starting at the end farthest from you, roll the dough tightly toward you. Use both hands and work slowly. Pinch the seams together.
• Transfer the dough to a cutting board and, using a sharp knife, slice 1 ½ inch slices.  Pour a couple of tablespoons of melted butter into desired pie pans or baking dishes. Place the rolls in the pan, taking care not to overcrowd them.
• Pre-heat oven to 375 degrees (If you’re using glass pans for your cinnamon rolls, pre-heat to 360 degrees instead).
• Cover the rolls with a kitchen towel for about 20 minutes, so they can rise again. Then bake for 13-17 minutes, until the cinnamon rolls are just turning golden.
• Immediately after removing from the oven, pour the maple icing over the cinnamon rolls.

Maple Icing

• In a large bowl, whisk together confectioners' sugar, milk, butter, coffee, and salt.
• Add in maple flavoring and whisk until smooth. Taste and add more flavoring seasoning if desired.