In the bowl of a stand mixer, dissolve the yeast in warm water. Allow the yeast to actiivate by letting it sit for 3-5 minutes. The yeast should get frothy. Add the warm milk and butter. Add in the egg, maple flavoring, salt and sugar. Mix well. Mix in the flour. Using the dough hook attachment, beat the dough on medium speed for 3-5 minutes. The dough will be sticky. Cover the dough with plastic wrap and let it rise in a warm place for 35 minutes or until almost double.
Divide the dough into two equal parts. On a lightly floured surface, roll out one part of the dough into a circle that is about 14-16 inches in diameter. Put the circle in a round pizza pan that has been sprayed with cooking spray.
In a small bowl, mix together the ingredients for the filling. Spread the filling onto the rolled out dough.
Roll out the second dough piece into a circle the same size as the first. Place this circle on top of the filling. Use a pizza cutter to make slices towards the center, leaving about 3 inches in the center of the circle unsliced. Continue to cut slices all the way around the circle, making about 18 slices. Twist each slice two times, being careful not to let the dough break apart in the center.
Cover the cinnamon twists with plastic wrap and allow them to rise for about 20 minutes.
Preheat the oven to 350 degrees. Bake for 14-16 minutes, until golden brown.
In a small bowl, combine the ingredients for the glaze. Add enough milk to make the glaze able to be drizzled. Drizzle the glaze over top the cinnamon twists.
You can use walnuts, pecans, or whatever type of nuts you'd like.The calories shown are based on the twists being cut into 18 pieces, with 1 serving being 1 twist. Since different brands of ingredients have different nutritional information, the calories shown are just an estimate.