Heat the maple syrup and the milk, cream, or butter over medium-high heat to 242 degrees F, about 10 minutes.
Let the bubbles settle down for about 1 minute.
Stir the hot, thickened syrup with a wooden spoon until it just begins to turn grainy or you begin to see granules forming, about 1 to 2 minutes.
Working quickly, pour the syrup into molds.
While the sugar is still soft, use a large wide, stiff spatula or bench scraper to pack syrup into the molds and smooth the surface.
The candies should take 10 to 30 minutes to harden. When they are hard, pop them out of the molds. Store in an airtight container.