Soft and Fluffy Caramel Apple Cinnamon Rolls - Cook with Carla

Ingredients

• 1 cup warm milk
• 1 tablespoon instant dry yeast
• 2 tablespoons granulated sugar
• 1 teaspoon salt
• 3 tablespoons salted butter, softened
• 1 large egg
• 3 cups all-purpose flour
• 1/2 cup salted butter, softened
• 1/2 cup brown sugar
• 1-2 tablespoons ground cinnamon
• 2 medium Granny Smith apples, cored and finely chopped
• 1/2 cup caramel sauce
• 1/4 cup chopped pecans (optional)