Preheat your oven to 350 degrees F (175 degrees C). Line baking sheets with parchment paper.

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

Beat in the maple syrup, egg, and vanilla extract until well combined.

In a separate bowl, whisk together the flour, baking powder, and salt.

Gradually add the dry ingredients to the wet ingredients, mixing until just combined.

Scoop tablespoon-sized balls of dough onto the prepared baking sheets, placing them about 2 inches apart.

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

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

For the glaze, whisk together the powdered sugar, 2 tablespoons of maple syrup, and enough milk to achieve a smooth, pourable consistency.

Once the cookies are cool, drizzle or spread the glaze over each cookie. Allow the glaze to set before serving.