As reported to the FAA. Reports are unverified, and codes are left as the FAA publishes them.
What was found
CREW REPORTED SMOKE AND BURNT SMELL IN CABIN SHORTLY AFTER TAKEOFF. CREW DECLARED EMERGENCY AND RETURNED TO FIELD, AND LANDED WITHOUT INCIDENT AT MKE. MAINTENANCE TROUBLESHOT PER EMB AMM, AND REPORTED BLEED 2 WAS AT FAULT. MAINTENANCE PLACED BLEED 2 ON MEL 36-00-00-1 AND RETURNED THE A/C TO SERVICE.