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

In a mixing bowl, cream together softened butter and brown sugar until light and fluffy.

Add maple syrup, egg, and vanilla extract, mixing until smooth and well incorporated.

In a separate bowl, whisk together flour, baking soda, salt, and cinnamon. Gradually mix into the wet ingredients.

Scoop tablespoons of dough, roll into balls, and place on the baking sheets, slightly flattening each ball.

Bake for 8-10 minutes until edges are golden and centers are slightly soft.

While cooling, whisk together powdered sugar, maple syrup, and milk for the glaze.

Once cookies are cool, drizzle with maple glaze and let set before serving.