Preheat your oven to 350°F (175°C) and line baking sheets with parchment paper.

In a large mixing bowl, cream together the softened butter and brown sugar until light and fluffy. Add in maple syrup, egg, and vanilla extract, mixing until combined.

In a separate bowl, whisk together flour, baking soda, salt, and cinnamon. Gradually incorporate into the wet ingredients, mixing on low speed until just combined.

Roll cookie dough into 1 ½-inch balls and place them on baking sheets with space in between. Flatten slightly.

Bake for 8-10 minutes until edges are golden and centers are soft. Do not overbake.

Cool cookies on the sheet for 5 minutes before transferring to a wire rack to cool completely.

Whisk together powdered sugar, maple syrup, and milk until smooth to make glaze. Adjust consistency as needed.

Once cookies are cool, drizzle maple glaze over each cookie and optionally garnish with a dash of cinnamon.