In a large bowl, warm milk until 110F. I do this by microwaving for 45 seconds. Sprinkle yeast on top of milk and let sit for a minute.

Whisk melted butter, sugar, and eggs into milk mixture and whisk well.

In a separate bowl, mix together bread flour and salt. Slowly add flour mixture to milk mixture and stir with wooden spoon until mostly combined. Dough can be a little shaggy.

Knead dough by hand for 5 minutes on a floured surface, you want the dough to be slightly sticky but not enough to stick to your hands so add more flour as needed.

Form into ball and place in bottom of greased large bowl. Cover with plastic wrap and place in warm spot for 90 minutes. I used the 'Keep Warm' feature on my oven at 145F with the door cracked. Another alternative would be on top of a stove that is turned on, or an oven that was turned out to 250F and turned off for five minutes, then the dough placed inside with the door cracked (oven no longer on but warm). Dough should double in size.

Meanwhile, heat a saucepan for the filling. Add the butter, and once the butter has melted, add the apples, cinnamon, and brown sugar. Let this mixture simmer over medium heat for 10 minutes, stirring occasionally. Turn off heat after 10 minutes and set aside.

Mix together remaining butter, sugar, and cinnamon mixture for the inside of the dough. Set aside.

Once risen, roll dough out onto floured surface into a large rectangle shape, about 9x14 or slightly larger. Spread cinnamon/butter/sugar mixture all over the dough leaving a 1-inch gap around all edges.

Add apple mixture inside the sugar mixture and spread evenly. Use a slotted spoon and leave behind majority of the liquid, with some being okay.

Roll tightly from one side to the other, keeping it nice and tight the whole time.

Once in a long roll, cut into 9 rolls using floss or a sharp knife (I prefer using floss to cut it). Place rolls into greased baking dish. You can use a 9x11 dish, a 9x13 dish, or a large round cake pan.

Let rolls rise once more for 30 minutes in a warm spot.

Turn oven to 350F and bake rolls for 25-30 minutes or until slightly golden.

While baking, prepare frosting by blending all of the ingredients together with a hand mixer.

Frost cinnamon rolls when still warm, or once cooled if preferred.