Cream butter and sugars in stand mixer.
Add vanilla extract, maple extract, cinnamon, and eggs, mix well.
In a separate bowl use a whisk to thoroughly mix flour, baking soda, salt and cream of tartar.
Add dry ingredients to wet a little at a time and mix until just combined, your dough will be pulled to the center in a ball shape when ready. If it is still sticky add a little more flour.
Wrap dough in plastic wrap or slip into a zippered bag and press all the air out. Place dough in the refrigerator for 2 hours.
Preheat oven to 375 degrees.
Roll dough out on a floured surface to a ¼” to ⅛” thickness.
Use cutters to cut out shapes (or even a glass for round cookies) and place on a baking sheet leaving an inch of space between each cookie.
Bake for 8-10 minutes or until edges just begin to brown.
Remove from oven and cool on trays for 2-3 minutes then remove to cooling racks to cool completely.
Whisk together your icing ingredients, adding the milk last, a little at a time until you get the consistency you desire.
Use the back of a spoon to ice your cookies then let them sit until icing has set.