Activate the Yeast: Warm the milk to about 110°F and dissolve the yeast with 1 teaspoon sugar in it. Let sit for 5 minutes until frothy.

Prepare the Dough: In a bowl, combine flour, remaining sugar, and salt. Mix in melted butter, eggs, and frothy yeast. Knead for 5 minutes and let rise for 1 hour.

Prepare the Apple Filling: Peel and dice the apples, then mix with brown sugar and cinnamon until well-coated.

Roll Out the Dough: Punch down the risen dough, roll into a rectangle about ½ inch thick, spread melted butter on top, and sprinkle the apple filling.

Shape the Rolls: Roll the dough tightly into a log, slice into 2-inch pieces, and arrange in a greased baking dish.

Second Rise: Cover and let rolls rise for 30 minutes while preheating the oven to 350°F.

Bake the Rolls: Bake for 25 minutes until golden brown and a toothpick comes out clean.

Make the Glaze: Mix powdered sugar with vanilla extract and milk to your desired consistency, then drizzle over warm rolls.