1 cup (240ml) whole milk, warmed to about 100°F (38°C)

2/3 cup (135g) granulated sugar, divided

1 and 1/2 Tablespoons (14g) instant yeast

1/2 cup (113g) unsalted butter, softened and cut into 4 pieces

2 large eggs, at room temperature

1/2 teaspoon salt

4 and 1/2 cups (563g) all-purpose flour

Filling: 6 Tablespoons (85g) unsalted butter, softened

1/2 cup (100g) packed light or dark brown sugar

1 and 1/2 Tablespoons ground cinnamon

2 cups (250g) peeled, chopped apples (about 2 medium apples)

Icing: 1 cup (120g) confectioners’ sugar

1/2 teaspoon vanilla extract

2 Tablespoons milk

2 Tablespoons salted caramel sauce, warmed

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Whisk warm milk, 2 Tbsp sugar, and yeast in a mixing bowl. Let sit for 5 minutes until foamy.
Beat in remaining sugar and butter until combined. Add eggs and salt, then mix in flour gradually until dough forms.
Knead dough for 5 minutes, by mixer or hand, until smooth and elastic. Dough should be soft but not sticky.
Place dough in greased bowl, cover, and let rise for 2 hours until doubled in size.
Roll dough into a 12×18-inch rectangle. Spread butter over top. Mix cinnamon and brown sugar, then sprinkle over butter. Top evenly with chopped apples.
Roll up tightly into an 18-inch log. Cut into 12 equal rolls. Arrange in greased 9×13 pan and cover tightly.
Let rolls rise again for 45–60 minutes until puffy.
Preheat oven to 375°F (191°C). Bake rolls for 25 minutes, covering halfway with foil to prevent over-browning.
Whisk icing ingredients together and drizzle over warm rolls. Serve fresh and warm.