To make the scones, preheat oven to 375 degrees. Line two baking sheets with parchment paper.
Add the flour, sugar, baking powder, cinnamon, and salt to a large mixing bowl and whisk to combine.
Pour in the heavy cream and vanilla and stir with a wooden spoon until just combined.
Place dough on a floured work surface and use your hands to separate dough into two evenly sized balls.
Pat each ball into a circle about 8 inches across and 1 inch thick. Use a pizza cutter or knife to cut each circle of dough into 8 triangles.
Place triangles on baking sheet and bake for 15-20 minutes or until light and fluffy and golden brown. Do not overbake.
While scones are cooling, prepare the glaze. Add brown sugar, butter, and milk to a small sauce pan over low heat and whisk until butter has melted. Heat for 5 minutes, whisking occasionally, to warm milk.
Remove from the heat and whisk in maple syrup and maple extract.
Gradually stir in powdered sugar, 1/2 cup at a time, until the glaze is smooth and thick.
Dip the tops of each scone in the glaze and let set.