01 - Mix flour, granulated sugar, active dry yeast, and salt in a large mixing bowl.
02 - Whisk together lukewarm whole milk, melted unsalted butter, and eggs in a separate bowl.
03 - Add wet mixture to dry ingredients and mix until a soft, cohesive dough forms.
04 - Knead the dough on a lightly floured surface for 6 to 8 minutes until smooth and elastic.
05 - Place the dough in a greased bowl, cover, and leave to rise in a warm place for 1 hour, until doubled in volume.
06 - Preheat oven to 350°F and grease a 9x13-inch baking pan.
07 - Roll dough into a 16x12-inch rectangle using a rolling pin.
08 - Spread creamy peanut butter over the dough followed by softened butter, then sprinkle light brown sugar and cinnamon if desired.
09 - Roll dough tightly from the long edge into a log and slice into twelve even portions with a sharp knife or baking floss.
10 - Arrange rolls in prepared pan, cover, and let rise for 20 minutes.
11 - Bake rolls at 350°F for 22 to 25 minutes until golden brown.
12 - Whisk powdered sugar, maple syrup, whole milk, vanilla extract, and a pinch of salt in a bowl until smooth.
13 - Drizzle warm rolls with maple glaze and serve immediately.