In a large bowl, stir together the almond butter, maple syrup, vanilla, cinnamon, and salt until smooth. Fold in oats and protein powder until a thick dough forms.
Use a cookie scoop or tablespoon to roll into ~1-inch balls. You should get around 18–20 bites.
Mix powdered sugar, vanilla, and milk until smooth and drizzle over bites. Let set for a few minutes before storing.