Preheat the oven to 350 degrees F and line two large baking sheets with parchment paper or a Silpat liner. 

Add the softened butter and light brown sugar to the bowl of a stand mixer fitted with the paddle attachment. Beat on medium speed until light and fluffy, about 2 minutes. 

Next add the maple syrup, egg, and vanilla. Mix again until well combined. Scrape down the sides of the bowl as needed. 

Next add the flour, baking soda, and cinnamon. Mix just until the dry ingredients are fully incorporated. You don’t want to overmix! 

Scoop out 2 tablespoon-sized portions and roll them into smooth balls.

Place the dough balls on the parchment-lined baking sheet making sure to place them at least 2 inches apart.

Press each dough ball into a ½-inch thick disc. 

Bake for 10-12 minutes, or just until the edges of the cookies are set. For chewy cookies, make sure not to overbake! 

Remove the cookies from the oven and allow them to cool completely on the baking sheet. When the cookies are cool, make the maple glaze (below). 

In a medium-sized bowl, whisk together the powdered sugar, maple syrup, and 1 tablespoon of milk. 

If you would like a thinner glaze, whisk in the second tablespoon of milk. 

Dip the cookies into the glaze and then place them on a wire rack to set. 

When the cookies are set, transfer them to an airtight container and store them at room temperature for up to three days.