Step 1: Prepare the Dough

1. In a small bowl, mix warm milk, yeast, and 1 tbsp sugar. Let sit for 5–10 minutes until foamy.
2. In a large bowl, combine flour, remaining sugar, salt, egg, melted butter, and the yeast mixture.
3. Knead the dough for 8–10 minutes until smooth and elastic.
4. Cover and let it rise in a warm place for 1 hour, or until doubled in size.

Step 2: Make the Apple Pie Filling

1. In a saucepan, melt butter over medium heat. Add diced apples, brown sugar, cinnamon, and nutmeg.
2. Cook for 5–7 minutes until apples are soft. If needed, mix cornstarch with 1 tsp water and stir it in to thicken.
3. Remove from heat and let cool.

Step 3: Assemble the Cinnamon Rolls

1. Roll out the dough into a 12×18-inch rectangle.
2. Spread softened butter over the surface, then sprinkle with brown sugar and cinnamon.
3. Evenly spread the apple pie filling over the dough.
4. Roll the dough tightly into a log and cut it into 12 equal pieces.

Step 4: Bake the Rolls

1. Place rolls in a greased baking dish, cover, and let rise for 30 minutes.
2. Preheat oven to 350°F (175°C) and bake for 20–25 minutes, until golden brown.

Step 5: Make the Glaze & Serve

1. Whisk together powdered sugar, milk, and vanilla until smooth.
2. Drizzle over warm rolls and enjoy!