01 - In a large mixing bowl, stir together the flour, granulated sugar, active dry yeast, and salt.
02 - In a separate bowl, whisk together lukewarm whole milk, melted unsalted butter, and eggs until fully combined.
03 - Pour wet mixture into dry mixture and mix until a soft dough forms.
04 - Knead dough on a lightly floured surface for 6 to 8 minutes, or until smooth and elastic.
05 - Transfer dough to a lightly greased bowl, cover, and let rise in a warm area for 1 hour, or until doubled in size.
06 - Preheat oven to 350°F. Grease a 9x13-inch baking pan with butter or nonstick spray.
07 - Roll dough into a 16x12-inch rectangle. Evenly spread creamy peanut butter, dot with softened butter, and sprinkle with light brown sugar and ground cinnamon if using.
08 - Starting from one long side, roll dough tightly into a log. Using a sharp knife or floss, slice into 12 equal pieces.
09 - Arrange slices in the greased pan. Cover and let rise for 20 minutes.
10 - Bake rolls in the preheated oven for 22 to 25 minutes, or until golden brown.
11 - While rolls are baking, whisk together powdered sugar, pure maple syrup, whole milk, vanilla extract, and a pinch of salt until the glaze is smooth.
12 - Drizzle warm rolls with the prepared maple glaze and serve immediately.