Preheat Oven: Preheat oven to 350°F (175°C).
Mix Dry Ingredients: In a medium bowl, whisk together flour, cinnamon, baking soda, and salt. Set aside.
Cream Butter and Sugars: In a large mixing bowl or stand mixer, cream together butter, brown sugar, and powdered sugar until light and fluffy.
Add Egg and Vanilla: Beat in the egg and vanilla extract until well combined.
Combine Wet and Dry Ingredients: Gradually add the dry ingredients to the wet ingredients, mixing until fully incorporated. (Optional: Chill the dough for 30-40 minutes for easier handling).
Portion and Bake: Using a tablespoon or small ice cream scoop, portion the dough into 1-inch balls and place on an ungreased baking sheet, spacing them 2 inches apart. Bake for 10-11 minutes, or until edges are lightly browned while centers remain soft.
Prepare the Glaze (if using): In a small bowl, whisk together powdered sugar, vanilla extract, and maple syrup until smooth. If needed, add milk to achieve desired consistency.
Glaze and Serve: Drizzle the glaze over the cooled cookies and let it set before serving.