Dissolve the yeast in warm water between 120°-130°; set aside.
In a large bowl of your mixer with the dough hook attachment, mix milk, sugar, melted butter, salt, and egg.
Add 2 cups of flour and mix until smooth. Add yeast mixture alternating with remaining flour. Mix until smooth.
REST AND RISE
Pour dough onto a floured flat surface and knead for 5 minutes. Place the dough in an oiled bowl, cover, and let rise in a warm, draft-free place like your microwave or oven until it has doubled in size. This will take approximately 2 - 2 and ½ hours.
FORM THE ROLLS
When the dough has doubled in size, punch it down. Roll out or press with fingers the dough until approximately 15 x 9-inch rectangle. The dough should be thin about ¼ -inch.
Spread melted butter all over the dough. Then sprinkle the brown sugar, cinnamon, and bacon over butter. Beginning on the long side roll the dough into a log. Pinch dough at the seam and ends to seal. Cut into 12 slices.
Pour ¼ cup melted butter into pan. You can use one 9x13-inch baking pan or two 8x8 or 9x9-inch pans. Place the sliced rolls almost touching in the pan and allow them to rise until doubled in size. This will take 45 to 60 minutes.
Preheat oven to 375°f. Bake the rolls until they are golden brown about 25 minutes.
While the rolls bake make the glaze. Whisk syrup and sugar together until smooth. Remove the cooked rolls from the oven. Allow them to cool for 4 to 5 minutes then drizzle the glaze over the rolls.