Preheat your oven to 350°F (175°C). Grease an 8x8 inch baking dish with butter or non-stick spray and line it with parchment paper.

In a large bowl, whisk together the flour, sugar, baking powder, salt, and cinnamon.

In another bowl, beat the eggs, maple syrup, milk, and melted butter until smooth.

Gently combine the wet ingredients into the dry mixture using a spatula until just combined.

Pour the batter into the prepared baking dish and spread it evenly.

Bake for 20-25 minutes until the top is golden brown and a toothpick comes out clean.

Let the bars cool in the pan for about 10 minutes, then transfer to a wire rack.

Mix the powdered sugar and milk to form a glaze, then drizzle it over the cooled bars.

Allow the glaze to set for a few minutes before slicing and serving.