Preheat the oven to 350°F (175°C) and line a baking sheet with parchment paper.

In a mixing bowl, cream together the softened butter, brown sugar, and granulated sugar until light and fluffy.

Beat in the eggs, one at a time, followed by the maple syrup and vanilla extract.

In another bowl, whisk together the flour, baking soda, and salt.

Gradually stir the dry ingredients into the wet mixture until just combined.

Drop spoonfuls of the batter onto the prepared baking sheet, spacing them about 2 inches apart.

Bake for 10-12 minutes or until the edges are lightly golden.

Let the cookies cool on the baking sheet for a few minutes before transferring them to a wire rack.

In a small bowl, whisk together the powdered sugar, maple syrup, and milk until smooth to create the glaze.

Once the cookies have completely cooled, drizzle the glaze over the cookies using a spoon or piping bag.

Allow the glaze to set before serving.