Preheat your oven to 350°F (175°C) and line an 8x8 inch baking dish with parchment paper.

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

In a separate bowl, crack the eggs and whisk them together with the pure maple syrup, milk, and melted butter until smooth.

Gently fold the wet ingredient mixture into the dry ingredients using a spatula, mixing until just combined.

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

Bake for 20-25 minutes, or until the bars turn golden brown and a toothpick comes out clean.

Allow the bars to cool in the pan for about 10 minutes before transferring to a wire rack. Prepare the glaze by whisking together powdered sugar and milk, and drizzle over the warm bars.