In a small bowl, dissolve yeast and 1 tablespoon sugar in warm water. Let sit 5 minutes.
With an electric mixer, beat milk and pudding mix for 1 minute. Let sit 1 minute or until soft set.
To pudding mix, add egg, melted butter, salt, yeast mixture, and 2 cups flour. Beat on medium until smooth.
Stir in enough of the remaining flour to make a soft dough. (Dough will be sticky.)
Place dough on a floured surface and knead 6 to 8 minutes. Place in a greased bowl, turning to coat in grease. Cover and let rise in a warm place until doubled in bulk, about 1 hour
While dough rises, make filling. Cook bacon in a skillet until crisp. Remove with a slotted spoon and drain on paper towels. In a medium bowl, stir together brown sugar, cinnamon, 1 tablespoon maple syrup, 1 tablespoon melted butter, and 2 tablespoons of bacon grease. Stir in bacon.
Roll dough out on a lightly floured surface into a 18x10-inch rectangles. Spread filling to within 1/2 inch of edges. Roll up jelly roll-style starting at a long end.
Cut into 12 slices. Place rolls in a greased 9x13-inch pan. Cover with a towel and let rise until doubled in bulk, about 45 minutes.
Preheat oven to 350 degrees.
Bake rolls for 20 to 25 minutes.
Make icing. Whisk together confectioners' sugar, butter, milk, and maple syrup until smooth. Spread onto still warm rolls.