Preheat your oven to 350°F (175°C) and line a muffin tin with cupcake liners.
In a mixing bowl, whisk together the flour, baking powder, baking soda, and salt.
In another bowl, beat the butter and sugar together until light and fluffy. Add the eggs one at a time, then stir in the vanilla extract.
Gradually add the dry ingredients to the wet ingredients, alternating with the milk. Mix until just combined.
Divide the batter evenly among the cupcake liners, filling each about ⅔ full.
Bake for 18-20 minutes, or until a toothpick inserted into the center comes out clean. Let cool completely.
For the frosting, beat the butter until creamy. Gradually add the powdered sugar, then mix in the maple syrup and vanilla extract until smooth.
Frost the cooled cupcakes and sprinkle with crumbled bacon.