In a large bowl, combine the warm milk and lemon juice. Let this mixture rest for 5 minutes.
Add the yeast and whisk to combine the yeast with the milk mixture. Let rest for 5 minutes.
Whisk in the melted butter, eggs, maple syrup, and cinnamon. Finally, add the flour and salt. Combine the ingredients until they begin to come together to form a jagged, sticky ball. Cover with a towel and let rest for an hour.
After an hour, place a sheet of parchment paper on a surface. Sprinkle with flour (about 1/2 tablespoon). Add the dough. Sprinkle a bit of flour over the surface of the dough (another 1/2 tablespoon or so). Knead the dough just until it forms a smooth ball--just a couple of "turns" of the dough. Roll the dough out with a rolling pin, flipping the dough if it becomes too sticky. There should always be some flour between the rolling pin and dough to prevent sticking.
Make the Filling:
In a large bowl, use a hand-mixer to cream together all the filling ingredients: brown sugar, flour, butter, cinnamon, cardamom, and salt.
Assemble the Rolls:
Pour the filling over the dough and use your fingers (or a large spoon) to rub the filling evenly over the entire surface. Roll up the dough as tightly as possible. Cut the dough into 12 even slices.
Place the slices on a parchment-lined sheet pan. They should be about an inch apart. Cover the cinnamon rolls with a clean towel and let the rolls rest for 30 minutes.
Preheat the oven to 400F. After 30 minutes, uncover the rolls and bake for 20-22 minutes, until golden brown.
For the Glaze:
In a small bowl, whisk together the glaze ingredients until smooth. Drizzle the glaze over the cooled cinnamon rolls. I personally think the glaze is optional.
Notes
If you don't have a scale to weigh the ingredients (which I highly recommend), spoon the flour into the measuring cup versus scooping it with a measuring cup.