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Heat milk, vegetable oil, and sugar to almost a boil. Add active yeast and let sit for a few minutes. Stir in flour and let sit in a warm place for 1 hour.
Let the dough rise and then add 1 cup flour, baking powder, baking soda, and salt. You can use it now or refrigerate it.
Roll out dough and smear melted butter on top. Add sugar and cinnamon and roll tight. Slice 1/2 inch width rolls and cover for about 20 minutes. Bake.
Mix together powdered sugar, milk, melted butter, salt, strong coffee, and a little bit of maple extract.
Ice the rolls immediately when they come out of the oven. The frosting will settle in all the cracks.
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