In the bowl of an electric mixer with a bread hook, combine the warm water, yeast, and sugar, and allow to stand for 5 minutes to let the yeast foam.

Add the melted butter (make sure it’s not too hot), 3 cups flour and salt. Mix until a shaggy dough forms, then add the remaining flour.

Knead for 5-6 minutes, until smooth and springy. You may need to add a little more flour, but err on the side of stickier dough. 

Turn the dough out into an oiled bowl and cover with a damp towel or plastic wrap. Place in a warm spot to rise for 1 1/2-2 hours or until doubled in size.

While the dough rises, make the filling. Mix the softened butter with the sugar and spices. Chop the pears into small cubes.

Grease a 9x13” baking dish and preheat the oven to 350º F.

Punch down the dough and roll out onto a floured surface into a rectangle, that’s about a 1/2 inch thick. Use a spatula to spread the filling mixture over the dough and sprinkle the chopped pears on top.

Starting from the wider end, do your best to roll into a tight log, pinching the ends to seal. Use a sharp knife or piece of twine to cut into 12 equal pieces (or 18 for smaller cinnamon rolls.) Place the slices in the baking dish and cover with plastic wrap to rise for another 30 minutes. 

Uncover and bake for 35-40 minutes until golden brown and no longer doughy in the center. 

While the cinnamon rolls bake, make the glaze. Whisk together powdered sugar, maple syrup and vanilla extract.  Add 1 tbsp of milk at a time until desired consistency is reached.

Drizzle the glaze over the warm cinnamon rolls and serve.