Preheat your oven to 350°F (175°C) and grease an 8×8 inch baking dish, lining the bottom with parchment paper.

In a large bowl, whisk together the all-purpose flour, granulated sugar, baking powder, salt, and ground cinnamon until well combined.

In a separate bowl, beat the eggs, then mix in the pure maple syrup, milk, and melted butter until fully incorporated.

Pour the wet mixture into the dry ingredients and gently stir until just combined.

Spread the batter evenly into the prepared baking dish and bake for 20-25 minutes, or until golden brown.

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

Prepare the maple glaze by mixing powdered sugar and milk until smooth.

Drizzle the glaze over the cooled bars, let it set, then cut into squares and serve.