Skillet Cinnamon Rolls

"I love using cast iron to get a nice crust on these skillet cinnamon rolls! The skillet also makes an impressive serving dish on the table without looking like you tried too hard. — Danielle Williams, Newport, Rhode Island..."

INGREDIENTS
1 package (1/4 ounce) active dry yeast
1 cup warm whole milk (110° to 115°)
1/4 cup sugar
1/4 cup butter, softened
1 large egg yolk
1-1/2 teaspoons vanilla extract
3/4 teaspoon salt
1/2 teaspoon ground nutmeg
2-3/4 to 3-1/4 cups all-purpose flour
FILLING:
8 bacon strips, chopped
1/2 cup packed brown sugar
1 tablespoon maple syrup
2 teaspoons ground cinnamon
1/2 teaspoon ground nutmeg
FROSTING:
2 cups confectioners' sugar
1/2 cup butter, softened
2 tablespoons whole milk
1 tablespoon maple syrup
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