Make the Dough: Start by whisking together the whole milk and instant yeast in a two-cup liquid measuring cup or small bowl until the yeast dissolves. Then, add in the eggs and whisk to combine.
Mix Dry Ingredients: In the bowl of a stand mixer fitted with the dough hook, combine the all-purpose flour, cornstarch, granulated sugar, and salt on low speed until well mixed.
Add Milk Mixture: With the mixer still on low speed, gradually pour in the warm milk mixture. Mix until the dough begins to come together, which should take about one minute.
Incorporate Butter: Increase the mixer speed to medium and add the unsalted butter, one piece at a time. Continue mixing until the dough is smooth and pulls away from the sides of the bowl, which approximately takes ten minutes. If it’s still sticky after ten minutes, don't hesitate to add another tablespoon of all-purpose flour until it reaches the right consistency.
Knead the Dough: Transfer the dough to a clean, floured surface and knead briefly to form a smooth ball. Place it in a greased bowl, cover with plastic wrap, and leave it in a warm area to rise until doubled in size, about two hours.
Prepare the Filling: While the dough rises, mix together the light brown sugar, ground cinnamon, and a pinch of salt in a small bowl. This will be your delicious filling.
Roll Out the Dough: After the dough has risen, turn it out onto a lightly floured surface and roll it into an 18-inch square. Spread the softened unsalted butter over the surface, leaving a half-inch border.
Add Filling: Sprinkle the cinnamon sugar mixture evenly over the buttered dough. Then, add the chopped apples and drizzle with salted caramel sauce.
Roll and Cut: Starting from the edge nearest you, roll the dough tightly into a cylinder and pinch the seams closed. Cut the roll into twelve even pieces using a sharp knife.
Let Them Rise: Place the cut pieces in a greased 9x13-inch baking dish, cut side up. Cover with plastic wrap and let rise in a warm area until doubled, about one hour. (If you prefer, you can refrigerate the rolls at this point and bake them the next day, just remember to let them sit at room temperature for an hour before baking.)
Bake: Preheat your oven to 350 degrees F. Once the rolls have risen, remove the plastic wrap and bake for 35 to 40 minutes until they are a deep golden brown.
Prepare the Icing: While the rolls cool, whisk together the powdered sugar, heavy cream, and remaining salted caramel sauce in a small bowl until smooth.
Serve: Drizzle the icing over the warm rolls and enjoy! These are best served warm or at room temperature, and any leftovers should be stored in an airtight container for up to five days.
