In a large bowl, whisk the warm milk, granulated sugar, and yeast. Let it sit for 5 to 10 minutes until it becomes foamy.

Add the melted butter, egg, and salt to the yeast mixture. Stir well to combine.

Gradually add the flour, one cup at a time, mixing until a soft dough forms.

Knead the dough on a lightly floured surface for about 5 to 7 minutes until it is smooth and stretchy.

Place the dough in a greased bowl, cover it with a clean cloth, and let it rise in a warm place for 1 hour or until it doubles in size.

While the dough rises, melt 2 tablespoons of butter in a pan over medium heat. Add the chopped apples, brown sugar, and cinnamon. Cook for 5 minutes until the apples are tender. Let the mixture cool.

Punch down the risen dough and roll it out into a large rectangle (about 12×18 inches) on a floured surface.

Spread the cooled apple filling evenly over the dough, leaving a small border at the edges.

Roll the dough up tightly starting from the long side to form a long log.

Cut the log into 12 even slices using a sharp knife or unflavored dental floss.

Place the rolls in a greased 9×13 inch baking pan. Cover and let them rise for another 30 minutes.

Preheat your oven to 350°F (175°C). Bake the rolls for 20 to 25 minutes or until they turn golden brown.

In a small bowl, whisk the powdered sugar, 2 tablespoons of milk, and vanilla extract until smooth.

Drizzle the glaze over the warm rolls and serve immediately.