Preheat your oven to 350°F (175°C). Line baking sheets with parchment paper.
In a large mixing bowl, cream together the softened butter and granulated sugar until light and fluffy.
Beat in the maple syrup, egg, and vanilla extract until well combined.
In a separate bowl, whisk together the flour, baking powder, and salt.
Gradually add the dry ingredients to the wet ingredients, mixing until just combined.
Scoop tablespoon-sized balls of dough onto the prepared baking sheets, placing them about 2 inches apart.
Bake for 10-12 minutes, or until the edges are lightly golden. Allow the cookies to cool on the baking sheet for a few minutes before transferring to a wire rack to cool completely.
For the glaze, whisk together the powdered sugar, 2 tablespoons of maple syrup, and enough milk to achieve a smooth, pourable consistency.
Once the cookies are cool, drizzle or spread the glaze over each cookie. Allow the glaze to set before serving.
