Step 1

Combine 3 cups flour, sugar, undissolved yeast, and salt into the bowl of your stand mixer fitted with the paddle attachment.

Step 2

In a medium microwave safe bowl, heat the milk and butter for 2 to 3 minutes until it’s very warm (120° to 130°F).

Step 3

Add the milk mixture to the flour mixture and mix for 2 minutes on medium speed, scraping the sides of the bowl as necessary. Add the eggs and 2 more cups of flour and mix for 2 more minutes at medium speed. Stir in enough remaining flour to make a soft dough, you might not need it all. Replace the paddle attachment with the dough hook and mix on medium speed for 5 to 8 minutes until smooth. Alternately you can knead the dough on a lightly floured surface using your hands for 5 to 8 minutes.

Step 4

Cover and let rest 10 minutes.

Step 5

Roll each half of the rested dough into a 12×10 rectangle on a lightly floured work surface.

Step 6

While the dough is resting prepare your filling. In a large bowl combine sugars, flour, and cinnamon and stir. Add in the melted butter and mix until combined.

Step 7

Divide the mixture in half and spread evenly onto each rolled out dough.

Step 8

Sprinkle the diced apples evenly on top of each. Roll up the dough tightly from the long side and then slice the dough into 1 1/2- inch portions.

Step 9

Coat 2, 9×13-inch baking dishes with nonstick spray and place the rolls into the pans. Cover and let rise for 30 minutes, or until doubled in size.

Step 10

In a medium bowl mix together the flour, sugar, cinnamon, salt, and butter.

Step 11

Using your hands combine the mixture until crumbs form when squeezed together.

Step 12

Sprinkle all the rolls evenly with the crumb topping.

Step 13

In medium bowl mix together the powdered sugar, butter and vanilla. Whisk in the cream until smooth.

Step 14

Drizzle the icing on the slightly cooled rolls.

Step 15

Serve warm or at room temperature