• Lightly flour a large flat, clean surface like a countertop or large cutting board. Lightly grease a large bowl and set it aside. Lightly grease a 9" x 13" baking dish and set aside.

Make the dough

• In a large bowl, add the milk and then add the yeast. Allow to sit undisturbed together for 5-10 minutes, just until the mixture starts to get foamy.
• Then gently beat in the eggs.
• Gradually add the flour, sugar, and salt to combine.
• On the lightly floured surface, turn out the dough and knead it for a few minutes, just until it's smooth.
• Add the dough to the prepared greased bowl, lightly cover, and allow it to sit for 30 minutes, until the dough has nearly doubled in size.
• Punch down the dough, flipping it over, then cover and allow to sit for another 30 minutes to rise and double in size again.
• Meanwhile, make the apple pie filling.

Make the apple pie filling

• In a medium saucepan over medium-high heat, add the apples, sugar, butter, cinnamon, and vanilla.
• Allow the mixture to come to a low boil, stirring occasionally, then reduce the heat to low, cover, and simmer for about 4-5 minutes, just until the apples are softened. Remove from heat and allow to cool slightly.

Shape the cinnamon rolls

• Roll out the dough onto a lightly floured surface, until you have a rectangle that is approximately 14" by 21" long.
• Using a pastry brush, brush melted butter over the surface of the dough rectangle. Then sprinkle the brown sugar and cinnamon over the butter. Use the pastry brush or your fingers to spread out the spices evenly across the top so that most of the surface is covered evenly.
• Spoon the apple pie filling mixture and spread it out evenly over the top.
• Starting from one long side, gently roll up the dough until it reaches the other side. Slice off each end.
• Using a pastry bench or knife, slice the log into 12 even sections, each approximately 2-inches wide.
• Carefully place each cinnamon roll with one of the open sides facing up into the prepared 9" x 13" baking dish. Cover and allow to site and rise for 30 minutes.

Bake the cinnamon rolls & make the frosting

• Preheat the oven to 350°F.
• Uncover the rolls and bake for 35-40 minutes, just until the tops are a golden brown.
• Meanwhile, make the frosting: In the bowl of a stand mixer, or in a large bowl and using a hand mixer, beat the cream cheese, butter, and vanilla until smooth. Gradually beat in the powdered sugar. Continue adding more powdered sugar, about 1 Tablespoon at a time, as needed, until the frosting reaches your desired level of thickness.
• After the rolls are done baking, remove them from the oven and allow them to cool slightly.
• Drizzle the frosting over the rolls and serve.