Make the streusel: Combine streusel ingredients in small bowl; set aside.

Make the dough: In a small saucepan, heat the milk and butter on low until very warm (but not too hot or boiling!).

In the bowl of a stand mixer using a dough hook, place the warm milk/butter mixture. Add 1 cup of flour, granulated sugar, salt, yeast, egg, and the maple extract. Beat on low for a couple of minutes, then add the rest of the flour, in 1/2 cup increments, until dough is completely mixed together. Knead this in mixer for 5 minutes. Remove mixer bowl; cover with plastic wrap, and let dough rise in a warm place for 45 minutes (until it doubles in size).

Once dough rises, remove it to a lightly floured surface. Divide dough into 3 equal-sized pieces. Roll into a ball. Roll each dough ball into a 12 inch wide circle. Put each dough circle onto prepared baking pan (sprayed with non-stick spray or covered with parchment paper that has been lightly sprayed). Evenly distribute streusel topping over each circle, spreading it as thin as you can to the edges.

Use a 2" sized cup (or other instrument); press gently down; make a circle indentation in center of each circle. Do not cut all the way through.

Use a pizza cutter or sharp knife; cut each circle into 16 equal sized wedges. Cut from outside of circle to the indentation mark.

Carefully lift each "wedge" or section. Twist it 5 times, then press end down, so dough stays twisted. Twirl each section the same direction, using same process. Once done, cover each pastry circle with plastic wrap; let dough rise again for an hour.

Preheat oven to 375 degrees. Uncover pastry rings, and bake in a 375 degree oven for 18-22 minutes. (oven times vary, so check it at 18 minutes. Mine took 20 minutes). The pastry should be golden brown. Remove to wire racks. Let cool for 5 minutes before glazing.

While pastry is cooling down, whisk together glaze ingredients. Place aluminum foil under wire rack (to catch drips); after twists have cooled for 5 minutes, drizzle the glaze over the top of each pastry. I also used a pastry brush to brush the glaze across the top. Serve, and enjoy!