Preheat oven to 350º F.
Combine flour, cinnamon, baking soda and salt in a medium bowl and whisk together, then set aside.
In a large bowl or mixer, cream together butter and sugars until fluffy and lightened in color, then mix in egg and vanilla extract.
Slowly mix in dry ingredients until fully incorporated. If desired, chill dough for 30-40 minutes.
Using a tablespoon or small ice cream scoop, scoop dough into 1-inch balls and place them onto ungreased baking sheet, 2 inches apart.
Place baking sheet in oven and bake for 10-11 minutes, or until edges are just lightly browned.
For the glaze, if using: whisk together powdered sugar and vanilla extract in a large bowl, then mix in maple syrup and whisk until smooth. Whisk in milk if necessary.
Pour over cooled cookies and let set.
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