In a large bowl, stir warm milk and sugar.

Sprinkle yeast on top and let sit for 5–10 minutes until foamy. If it doesn’t foam, your yeast is not active—start over.

Whisk in melted butter, egg, yolk, vanilla, and salt. Add 3 1/4 cups flour and mix until a shaggy dough forms.

Knead by hand for 5–7 minutes (or mixer with dough hook for 4–5 minutes) until smooth and slightly tacky. Add the remaining flour only if needed.

Place dough in a lightly oiled bowl, cover, and let rise in a warm spot until doubled, about 60–90 minutes.

In a skillet over medium heat, melt 2 tbsp butter.

Add apples, brown sugar, cinnamon, nutmeg, and salt. Cook for 5–7 minutes until tender.

Stir in lemon juice and cornstarch; cook for 1–2 more minutes until glossy and thick. Cool completely.

Combine softened butter, brown sugar, and cinnamon in a small bowl to make a spreadable paste.

Punch down dough and turn onto a floured surface. Roll into a 12×18-inch rectangle (long side facing you).

Spread the cinnamon butter evenly over the dough. Dot or spread the cooled apple mixture in a uniform layer, leaving a 1/2-inch border on the far long edge.

Roll tightly from the long edge closest to you, pinching the seam to seal. Trim ends.

Cut into 12 even rolls using unflavored dental floss or a sharp knife.

Arrange rolls in a greased 9×13-inch pan, cover lightly, and let rise until puffy, 30–45 minutes.

Preheat oven to 350°F (175°C).

Bake for 22–26 minutes until lightly golden and centers read about 190°F or feel set when tapped.

Beat cream cheese and butter until smooth. Add powdered sugar, vanilla, salt, and enough milk to reach a thick-but-pourable consistency.

Spread half the glaze over warm rolls to melt into the spirals. Wait 5 minutes, then add the rest for a glossy finish.