1) To start making the dough, heat up the milk, vegetable oil, and white granulated sugar in a pan at medium heat. Set aside and cool to warm. Sprinkle the yeast on top and let it sit on the milk for about 1 minute.
2)Add 4 cups of the flour. Stir until just combined, then cover with a clean kitchen towel, and set aside about 1 hour.
3)Then, add the baking powder, baking soda, salt, and the remaining flour, stir.
4) Remove the dough from the pan. Roll the dough into a large rectangle on a floured baking surface, like a clean table. The dough should be rolled very thinly.
5)To make the filling, pour one stick of melted butter over the surface of the dough and spread it evenly with your hand or spatula. Sprinkle 1/2 of powder cinnamon and 1/2 cup of the brown sugar over the butter. Add more if needed.
6)To roll it, start from the beginning at the end farthest from you, roll the rectangle tightly towards you. When you’re finished rolling, you’ll end up with one long log.
7) Cut with a sharp knife, about 1/2-inch slices each. Pour a few teaspoons of melted butter into a cake pan. Place the sliced rolls in the pan, but don't overcrowd.
7) Preheat the oven to 375°F.
8) Cover pan with a clean towel and set aside to rise on a table for at least 10-20 minutes before baking. Remove the towel and bake for about 16 to 20 minutes, until golden brown.
9) Now make the the maple icing, in a bowl, whisk together the powdered sugar, milk, butter, coffee (optional), salt, and maple flavoring (syrup) until smooth and pourable.
10) When finished baking remove pan from the oven. Immediately drizzle maple icing over the top. The rolls will absorb some of the maple icing’s moisture and flavor, so you might want to add/make more maple icing.