In a small bowl, combine warm milk and sugar. Sprinkle the yeast over the top and let it sit for about 5 to 10 minutes until frothy.

In a large mixing bowl, combine flour and salt. Create a well in the center and add the yeast mixture, softened butter, and eggs. Stir until you form a sticky dough.

Turn the dough onto a lightly floured surface. Knead for about 8-10 minutes until the dough is smooth and elastic.

Place your dough in a greased bowl, cover it with a clean cloth, and let it rise in a warm place for about 1-2 hours, or until doubled in size.

While the dough is rising, mix the brown sugar and cinnamon in a bowl. Dice your apples and set them aside.

Once risen, punch down the dough and roll it out into a rectangle (approximately 10x15 inches). Spread the cinnamon-sugar mixture and layer diced apples evenly across the dough.

Starting from one long edge, roll the dough tightly into a log. Pinch the seams to seal and slice into equal parts (about 1-1.5 inches wide) to yield 8-10 rolls.

Place the rolls in a greased loaf pan, cut side up. Cover again and let rise for another 30-45 minutes until puffed up beautifully.

Preheat your oven to 350°F (175°C). Bake the bread for about 30-35 minutes until golden brown and the center is fully cooked.

While the bread cools, whisk together powdered sugar, milk, and vanilla for the glaze. Drizzle over the loaf after it cools slightly.