In a large mixing bowl, warm the milk to about 110°F. Stir in the sugar and yeast, and let it sit for 5–10 minutes until foamy.

Add softened butter, eggs, and salt to the yeast mixture. Stir to combine. Gradually add the flour, one cup at a time, mixing until a soft dough forms.

Transfer dough to a floured surface and knead for 6–8 minutes until smooth and elastic. Place it in a greased bowl, cover, and let rise in a warm place for about 1 to 1½ hours, or until doubled in size.

While dough rises, prepare the apple filling. In a skillet, melt butter over medium heat. Add diced apples, brown sugar, cinnamon, and nutmeg. Cook for 5–7 minutes until softened. Stir in cornstarch if mixture is too thin. Remove from heat and let cool.

In a separate bowl, mix softened butter, brown sugar, and cinnamon to make the cinnamon sugar filling.

After dough has risen, punch it down gently and roll it out into a 16×20-inch rectangle. Spread the cinnamon sugar mixture evenly over the dough, then add the cooled apple filling. Drizzle with a few tablespoons of caramel sauce.

Roll the dough tightly from the long side to form a log. Use a sharp knife or dental floss to cut into 12 equal rolls.

Place rolls in a greased 9×13-inch baking dish, leaving space between them. Cover and let rise again for 30–45 minutes until puffy.

Preheat oven to 350°F (175°C). Bake rolls for 25–30 minutes, until golden brown on top. Cover with foil if they brown too quickly.

While rolls bake, make the caramel sauce. In a saucepan over medium heat, melt butter and brown sugar together until bubbling. Stir in heavy cream and salt, simmer 2–3 minutes, then remove from heat and add vanilla. Let cool slightly.

Once rolls are done, drizzle them with warm caramel sauce. Let cool for 10 minutes.

Make the glaze by whisking powdered sugar, caramel sauce, and milk until smooth. Drizzle over rolls before serving.