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In a saucepan, combine the whole milk, vegetable oil, and ½ cup sugar. Heat until just before boiling, then let cool for 45 minutes to 1 hour.
Sprinkle in 1 packet of active dry yeast and let sit for a minute. Add 4 cups of flour and stir until well combined. Cover and let rise for at least 1 hour.
After rising, add the remaining ½ cup of flour, baking powder, baking soda, and salt. Stir until well incorporated.
Roll the dough into a thin rectangle, brush with ½ cup melted butter, sprinkle with ½ cup sugar and ⅛ cup ground cinnamon.
Roll the dough tightly from the wide end and pinch the seam to seal. Cut into 1-inch slices and place in a baking pan.
Let the rolls rest for 20-30 minutes, then preheat the oven to 375°F (190°C).
Bake for 13-17 minutes until golden brown.
For the frosting, combine powdered sugar, maple extract, milk, melted butter, brewed coffee, and a pinch of salt. Stir until smooth.
Drizzle the frosting over the warm cinnamon rolls.