Preheat your oven to 350°F (175°C). Line your baking pan with parchment paper, letting the edges hang slightly for easy lifting later. This little trick makes removing the bars effortless and keeps their edges beautifully intact.

In a large bowl, whisk together the flour, sugar, baking powder, salt, and cinnamon. Take a moment here—this step ensures even distribution, which means every bite of your homemade Baked Maple Donut Bars will have that perfect texture.

In another bowl, whisk the eggs until slightly frothy. Add the milk, melted butter, maple syrup, and vanilla extract. The aroma of maple at this stage is already irresistible—warm, sweet, and inviting.

Pour the wet mixture into the dry ingredients. Using a spatula, gently fold until just combined. Be careful not to overmix; the batter should be thick but smooth, promising soft and tender bars.

Spread the batter evenly into your prepared pan. Bake for 16–18 minutes, or until the top is lightly golden and a toothpick inserted in the center comes out clean. Your kitchen will smell like a cozy maple bakery at this point.

Allow the bars to cool in the pan for 10 minutes, then transfer them to a cooling rack. Patience here is key—glazing warm bars will cause the icing to melt too much.

In a bowl, whisk together powdered sugar, maple syrup, milk, vanilla, and a pinch of salt. Adjust the milk until you reach a smooth, pourable consistency that coats the back of a spoon.

Drizzle or spread the glaze over the cooled bars. Let it set for about 10 minutes until slightly firm. The glaze will develop a delicate sheen, making these bars look as beautiful as they taste.