Creating these incredible Caramel Apple Cinnamon Rolls is easier than you might think. Follow these straightforward steps:

1. Prepare Dough: In a large mixing bowl, combine the warm milk, melted butter, granulated sugar, and yeast. Let sit for about 5 minutes until bubbly.
2. Mix Ingredients: Add the eggs and salt, then gradually incorporate the flour, mixing until a dough forms.
3. Knead the Dough: On a floured surface, knead the dough for about 5-7 minutes until smooth and elastic.
4. Let It Rise: Place the dough in a greased bowl, cover with a clean towel, and let it rise in a warm area for about 1 hour, or until doubled in size.
5. Make Filling: In a small bowl, mix the softened butter, brown sugar, and cinnamon until combined. Set aside.
6. Roll Out Dough: Once the dough has risen, punch it down and roll it out into a large rectangle, about 16×24 inches.
7. Spread Filling: Evenly spread the cinnamon sugar mixture over the dough, then top with diced apples.
8. Roll It Up: Starting from one end, tightly roll the dough into a log.
9. Slice the Rolls: Cut the log into 12 equal pieces and place them in a greased baking dish, with cut sides up.
10. Second Rise: Cover the rolls with a towel and let them rise for another 30 minutes, or until puffy.
11. Preheat Oven: While waiting, preheat your oven to 350°F (175°C).
12. Bake: Bake the cinnamon rolls for 25-30 minutes, or until golden brown.
13. Cool: Let them cool in the pan for about 10-15 minutes.
14. Drizzle with Caramel: Warm the caramel sauce slightly, then drizzle it generously over the rolls.
15. Prepare Topping: In a small bowl, whisk the powdered sugar, milk, and vanilla until smooth. Drizzle over the rolls for an extra touch of sweetness.

Now your Caramel Apple Cinnamon Rolls are ready to be devoured!