01 - Add flour, granulated sugar, active dry yeast, and salt to a large mixing bowl and stir to distribute evenly.
02 - In a separate bowl, whisk together lukewarm whole milk, melted unsalted butter, and eggs until fully combined.
03 - Pour the wet mixture into the dry ingredients and mix with a spatula or stand mixer on low speed until a soft dough forms.
04 - Knead the dough on a lightly floured surface for 6 to 8 minutes until smooth and elastic.
05 - Transfer the dough to a greased bowl, cover, and set in a warm location for 1 hour, or until doubled in volume.
06 - Grease a 9x13-inch baking pan. Preheat the oven to 350°F.
07 - Using a rolling pin, shape dough into a 16x12-inch rectangle on a lightly floured work surface.
08 - Evenly spread peanut butter across the surface of the dough. Dot with softened butter, then sprinkle with brown sugar and cinnamon.
09 - Starting from the long edge, roll up the dough tightly into a log. Use a sharp knife or floss to slice into 12 equal rolls.
10 - Arrange the rolls in the prepared baking pan. Cover and let rise for 20 minutes.
11 - Bake in the preheated oven for 22 to 25 minutes, or until the rolls are golden brown.
12 - While the rolls bake, whisk together powdered sugar, maple syrup, whole milk, vanilla extract, and a pinch of salt until smooth.
13 - Drizzle warm rolls with maple glaze before serving.