In a large mixing bowl, whisk in the cooled melted butter with the light brown and granulated sugars until well combined. Whisk in the egg, egg yolk, maple syrup, vanilla extract and maple extract until smooth and well combined.
Stir the dry ingredients into the wet until just combined. Preheat the oven to 375 F for about 20-30 minutes before baking the cookies. Line a large baking sheet with parchment paper. Allow the dough to rest while the oven preheats for 30 minutes.
In a small bowl, whisk the ground cinnamon with sugar until well combined. Scoop the maple sugar cookie dough, roll the dough ball into the spiced sugar and place the cookie dough balls onto the lined baking sheet.
Make maple syrup glaze while the cookies cool. In a bowl, whisk the melted butter and maple syrup into the powdered sugar until smooth and well combined. Drizzle the top of each cookie with the maple syrup icing and enjoy!