Apple Cinnamon Rolls

Ingredients

• 1 cup whole milk
• 2/3 cup granulated sugar
• 1 1/2 tablespoons active dry yeast
• 1/2 cup unsalted butter
• 2 large eggs, at room temperature
• 1/2 teaspoon salt
• 4 1/2 cups all-purpose flour
• 6 tablespoons unsalted butter, very soft
• 1/2 cup packed light or dark brown sugar
• 1 1/2 tablespoons ground cinnamon
• 2 cups peeled and finely chopped apples
• 1 cup confectioners' sugar
• 1/2 teaspoon pure vanilla extract
• 2 tablespoons milk
• 2 tablespoons warmed salted caramel