In the bowl of a stand mixer, whisk together the warm milk, yeast, sugar, and 1 cup of the flour. Cover the bowl and let it sit in a warm place for 30 minutes.
After 30 minutes, whisk in the eggs, salt, and melted butter. Gradually add the remaining flour until the dough is soft but not runny (adjust as needed). Using the dough hook, knead the dough on medium speed until it is smooth and elastic, about 10–15 minutes.
Cover the bowl and let the dough rise in a warm place until it has doubled in size, about 1 hour.
For the filling, combine the sugar and cinnamon in a small bowl. Keep the melted butter separate. Prepare the apples by peeling and finely dicing them.
Dust a clean work surface with flour and roll out the dough into a large rectangle. Brush the melted butter onto the dough, then sprinkle the cinnamon-sugar mixture on evenly. Scatter the diced apples on top.
Starting from the long side, roll the dough tightly into a log. Use a floured serrated knife to cut the log into 12 even pieces. Place the rolls in a buttered 10x8 baking pan. Cover the pan and let the rolls rise for 1 hour.
Preheat the oven to 350°F. Once the rolls have doubled, bake them for 35–40 minutes until they are golden brown.
For the glaze, whisk together the powdered sugar, heavy cream, and vanilla until smooth. Apply the glaze over the warm rolls and enjoy!