Put the yoghurt and butter in a measuring jug and microwave for 30-40 seconds until the butter starts to melt. Lightly beat the eggs in a separate bowl.
Fit the kneading blade into the bread pan. Add the yoghurt/butter, beaten eggs and sugar and mix together with a fork.
Add the flour and cover the liquid ingredients. Place the yeast, cinnamon and salt on top.
Select menu 23. Press the start pad to start the machine – the ‘start’ light will come on. (Please note: the machine will beep after a certain time has elapsed but you don’t need to do anything.)
When the machine beeps 8 times and the bar at ‘end’ flashes you can press ‘stop’ and remove the bread pan.
Tip the dough onto a worktop dusted with flour and press to deflate. Leave it to rest for 5 minutes.
Dust your rolling pin with a little flour, then roll the dough out into a rectangle approximately 40x30cm/16x12in. Spread the dough with the softened butter and sprinkle with the filling. Press the filling lightly with your hands.
Starting on the long side closest to you, roll the dough (not too tightly) into a log. Trim the edges and cut into 12 even pieces using a pastry cutter or sharp knife.
Place the cinnamon buns on large tray lined with baking paper, spacing them slightly apart. Cover with greased cling film and let them rise for 40 minutes.
Preheat the oven to 200C (180Fan) for a good 15 minutes. Place the shelf in the middle of the oven.Reduce the oven temperature to 180C (160 Fan) and bake for 20 minutes. Cover with foil if the rolls are colouring too much and continue to bake for another 10 minutes. Brush with the maple syrup and leave to cool slightly.
Mix the icing sugar, maple syrup, vanilla and enough water to make a thick but pourable glaze.
Use a spoon to drizzle the glaze over the buns and enjoy!