I was inspired by this thread the first time it appeared and made my own version from scratch, to impress some in-laws. Any recipe will work for the cinnamon rolls, but the way I incorporated the bacon was twofold:
I fully cooked five strips of cherrywood bacon and crumbled them. 2/3 of the crumbles were incorporated into the cinnamon-sugar filling (so every bite will have one or two tiny bacony nuggets); the other 1/3 was set aside and sprinkled on top of the glaze (which was a combo of maple syrup, confectioner's sugar, and vanilla).
This was magic; possibly, no lie, the best thing I have ever eaten. I haven't made them again, though, because they're possibly too magical and detrimental to our health.