In a large mixing bowl, combine warm milk with granulated sugar and active dry yeast. Let it sit for about 5 minutes until foamy.

Add melted butter, egg, salt, bourbon, and flour. Stir until a shaggy dough forms, then knead for 5-7 minutes.

Place dough in a greased bowl, cover, and let rise in a warm area for 1 hour, until doubled in size.

Roll out the dough into a rectangular shape. Spread softened butter, then sprinkle brown sugar, cinnamon, and bacon before rolling tightly.

Slice the log into 12 pieces and place in a greased baking dish. Cover and let rise for 30 minutes.

Preheat oven to 375°F. Bake for 20-25 minutes until golden brown.

Whisk powdered sugar with bourbon or milk until smooth. Drizzle over warm rolls after baking.