Thaw rolls on a greased baking sheet, covered with lightly greased plastic wrap, until almost double in size. (About 2-3 hours depending on room temperature.)

Meanwhile, place the bacon on a wire rack inside of a foil lined baking pan. Brush the top of the bacon with half of the maple syrup and sprinkle with half of the brown sugar. Bake in a preheated 400 degrees Fahrenheit oven for 15 minutes. Flip the bacon, brush with the rest of the maple syrup and sprinkle the remaining brown sugar. Bake another 15 minutes, or until it reaches the desired level of crispiness. Allow to cool completely. Then chop into small pieces.

While the bacon is cooking, start the glaze. Melt the butter, brown sugar, and milk together in a saucepan over medium-high heat. Bring to a boil and whisk constantly until sugar is dissolved -- about 2 minutes. Remove from heat and add the maple extract, salt, and powdered sugar. Add extra milk, 1 Tbsp at a time, to the desired dipping consistency (I added about 3 to 4 Tbsp, maybe more). Put the glaze back on the stove top and keep warm (lowest heat), stirring occasionally.

Fill a pot with oil about 1 1/2 to 2 inches high from the bottom. Heat it up until nice and hot (about 350 degrees Fahrenheit). Poke a hole with your thumb in the middle of each roll and stretch it out, being careful not to deflate the roll completely.  

Drop 2-3 donuts at a time into the hot oil, turning once, and cooking until golden brown on both sides. Place each cooked donut onto a cooling rack with a tray underneath to catch any excess oil drippings. Allow donuts to cool completely.

Dip donuts into warm glaze, one at a time, and immediately top with chopped bacon. (The glaze hardens quickly.) Repeat with all donuts. Enjoy immediately. Refrigerate any leftovers (due to the bacon).