Preheat your oven to 350°F (175°C) and prepare an 8x8 inch baking dish by greasing it and lining it with parchment paper.

In a large mixing bowl, combine the all-purpose flour, granulated sugar, baking powder, salt, and ground cinnamon. Whisk until well mixed.

In a separate bowl, beat two large eggs lightly. Add pure maple syrup, whole milk, and melted butter. Mix until smooth.

Pour the wet mixture into the dry ingredients and gently stir until just combined, being careful not to over-mix.

Transfer the batter into the prepared baking dish, spreading it evenly to ensure a consistent bake.

Bake in the preheated oven for 20-25 minutes, until golden brown and a toothpick inserted in the center comes out clean.

Let the bars cool in the pan for about 10 minutes before transferring to a wire rack to cool completely.

Prepare the glaze by mixing powdered sugar with a splash of milk until desired consistency is reached.

Once cooled, drizzle the glaze generously over the bars, cut into squares, and serve.