Mix milk, sugar, and canola oil in a large pot. Heat over medium heat and until hot but not yet boiling. Remove from heat and allow to cool until warm but no longer hot.
Sprinkle yeast of the surface of the warm mixture, then add in the 4 cups of flour. Stir gently until combined. Dough will be sticky and wet. Cover with a tea towel and let sit for 1 hour.
After 1 hour, add in the additional ½ cup of flour and the salt, baking soda, and baking powder. Mix until combined. Cover and refrigerate until needed (I like to keep it overnight).
Grease a large baking dish (9x13 works well).
Melt 1 cup of butter in a small saucepan over medium heat. Continue cooking until butter is browned and nutty smelling. Remove from heat and let cool slightly.
While butter cools, combine brown sugar, cinnamon, nutmeg, and cloves in a small bowl.
Dump dough onto a floured surface. Roll into a thin large rectangle, about 30x10 inches. Drizzle with cooled brown butter, then top evenly with the brown sugar mixture mixture. Roll dough tightly from one long side to the other (so you have 1 long roll about 30 inches), pinching edges to seal when you get to the end. Slice into rolls about 1-2 inches thick and lay slices into prepared baking dish. You want them to be fairly close together but not too crowded. Allow to rise for 20 minutes. Preheat oven to 375 degrees F while they rise.
Place rolls in preheated oven and bake for about 15 minutes, until the tops are cooked through and beginning to brown on tops.
To make the glaze, whisk together the milk, powdered sugar, maple flavoring, maple syrup, and pinch of salt. If needed, add a little more milk or powdered sugar to reach desired consistency.
Once rolls are cooked, remove them from the oven. Drizzle glaze all over the rolls. Serve warm or at room temperature.