Combine the warm milk, sugar, and yeast in a large bowl. Let the mixture stand for 5 to 10 minutes, until lightly foamy.
Add the egg, melted butter, and salt. Stir until combined.
Gradually add 2 1/2 cups of flour, mixing until a soft dough forms. Add a little more flour only if needed.
Knead the dough for 5 to 7 minutes, until smooth and elastic.
Place the dough in a lightly greased bowl. Cover and let it rise for about 1 hour, or until doubled in size.
Gently press down the risen dough and transfer it to a lightly floured surface. Roll it into a rectangle about 1/2 inch thick.
Cut the dough into fry-shaped strips using a sharp knife or pizza cutter.
Cook the bacon in a skillet over medium heat until crisp. Drain, cool, and crumble. For extra maple flavor, lightly brush the cooked bacon with maple syrup.
Heat several inches of vegetable oil in a deep skillet or Dutch oven to 350°F (175°C).
Fry the donut strips in small batches for about 1 to 2 minutes per side, until puffed and golden brown.
Transfer the cooked donut fries to a wire rack or paper towel-lined plate to drain.
Make the glaze by whisking together the powdered sugar, maple syrup, vanilla, salt, and enough milk to create a smooth, thick, pourable consistency.
Dip or drizzle the warm donut fries with the maple glaze.
Immediately sprinkle the crispy bacon over the glaze so it sticks to the surface.
Serve warm for the best texture and flavor.
