Before starting, take your butter and egg out of the fridge.
In a bowl combine flour, baking soda, brown sugar, and salt.
Once your butter and egg are at room temperature add them to a separate bowl and add maple syrup, milk, and vanilla. Use a hand or stand mixer to fully combine.
Slowly combine the dry and wet mixtures. Once combines allow to sit in the fridge for at least 3 hours or overnight.
When ready to bake preheat your oven to 350 degrees Fahrenheit. Use a 1-in cookie scoop to add even amounts of dough to a nonstick pan.
Bake for 12-14 minutes. Allow cookies to slightly cool before moving them to a wire coming rack. Repeat until all dough is used.
Maple Icing
In a bowl combine powdered sugar, maple syrup, and heavy whipping cream.
Once cookies are cooled drizzle the maple icing on the cookies. The icing will harden and stay on the cookies very well!
Notes
You can add a sprinkle of sugar to the cookies immediately coming out of the oven to make them just a tad bit sweeter!
I drizzled the icing and it added the perfect amount of sweetness but if you want more you could make double the icing and ice the whole cookie.