In a bowl stir together the milk, yeast, sugar, egg, egg yolk and melted butter. Add the flour and knead for 8 minutes or until the dough is soft and elastic.
Cover with a cloth and let it rise for 40 minutes.
Combine milk, yeast, sugar, egg, egg yolk, melted butter, and flour and knead until the dough is well combined and elastic. Allow it to rise for 40 minutes.
While the dough is rising, make the filling by combining butter, brown sugar, and cinnamon.
Roll out the dough to ¼-inch thick, then spread with butter and sprinkle with half the brown sugar-cinnamon mixture. Add the bacon slices and top with the remaining filling.
Roll up the dough, slice, and add the individual rolls to the air fryer basket.
Set air fryer to 300F / 149C. Cook for 10 minutes. Reduce temperature to 200F / 93C and cook for 10 more minutes.
While the bacon cinnamon rolls cook, make the frosting by beating together the butter and maple syrup in a stand mixer. Then add the confectioner’s sugar, whipping up until light and fluffy.
Top the warm cinnamon rolls with frosting and serve.