In a large bowl, combine the warm milk and instant yeast. Let it sit for about 5 minutes until frothy.
Add the melted butter, granulated sugar, and salt to the yeast mixture. Stir to combine.
Gradually add the flour and mix until a dough forms. Knead the dough for about 5 minutes until it becomes smooth and elastic.
Place the dough in a greased bowl, cover with a clean kitchen towel, and let it proof in a warm place for 1 hour or until it has doubled in size.
While the dough is proofing, prepare the apple filling. In a small bowl, mix together the chopped apples, brown sugar, and ground cinnamon.
Once the dough has doubled in size, punch it down and roll it out on a floured surface into a rectangle.
Spread the softened butter evenly over the dough, then sprinkle the apple filling mixture on top.
Roll up the dough tightly from the long edge to form a log. Cut the log into 12 equal slices.
Place the slices in a greased baking dish, leaving some space between them. Cover and let them rest for 15 minutes.
Preheat your oven to 180°C (350°F).
Bake the rolls for about 25 minutes or until they are golden brown and cooked through.
While the rolls are baking, prepare the glaze by mixing icing sugar and enough milk to achieve a thick but pourable consistency.
Once the rolls are out of the oven, drizzle the glaze over them while they are still warm.
Serve the delicious Apple Cinnamon Rolls and enjoy!
