Prepare the Oven and Cupcake Pan: Preheat the oven to 350°F (175°C). Line a standard 12-cup muffin pan with paper cupcake liners.
Combine the Dry Ingredients: In a medium bowl, whisk together the all-purpose flour, baking powder, baking soda, and salt until evenly combined.
Cream the Butter and Brown Sugar: In a large mixing bowl, beat the softened butter and brown sugar until light and fluffy, about 2–3 minutes.
Add the Wet Ingredients: Beat in the eggs one at a time. Add the maple syrup and vanilla extract, then mix in the cooled brewed coffee until everything is well combined.
Combine the Batter: Gradually add the dry ingredients to the wet mixture, alternating with the milk. Mix just until combined. Avoid overmixing to keep the cupcakes soft and tender.
Fill the Cupcake Liners: Divide the batter evenly among the prepared cupcake liners, filling each about two-thirds full.
Bake the Cupcakes: Bake for 18–22 minutes, or until the tops spring back lightly when touched and a toothpick inserted into the center comes out clean or with a few moist crumbs. Let the cupcakes cool in the pan for a few minutes, then transfer them to a wire rack to cool completely.
Make the Maple Coffee Frosting: Beat the softened butter until creamy. Gradually add the powdered sugar, then mix in the maple syrup, cooled coffee, vanilla extract, and heavy cream. Beat until the frosting is smooth, fluffy, and easy to pipe.
Frost and Finish: Once the cupcakes are completely cool, pipe or spread the maple coffee frosting over each cupcake. Finish with a light sprinkle of cinnamon or a small drizzle of maple syrup, if desired.