Heat the milk to 110 degrees F and stir in yeast and sugar. If using active dry yeast, allow to sit for 15 minutes. If using instant yeast, simply move on to the next step.

Mix the eggs and vanilla into the milk yeast mixture.

Combine flour and salt together in the bowl of a stand mixer fitted with a dough hook.

Pour the wet ingredients into the flour and mix on low-medium speed for about 3 minutes, or until it forms a ball around the hook.

Add in one piece of butter at a time, allowing it to fully incorporate before adding the next.

Once all of the butter is incorporated, turn the mixer up to medium-high speed and mix for 8-12 minutes. To check if the dough is ready, tear off a small piece and carefully spread it out to see if you can see the light through it without it tearing. If it tears, mix for another minute and check again.

Once the dough is ready, transfer it to a lightly greased bowl, cover, and allow to proof overnight in the fridge. Alternatively, you can let the dough rise in a warm place for about 1 hour or until doubled in size.

In the bowl of a stand mixer fitted with a paddle attachment, beat the butter with the brown sugar and cinnamon until fully combined and smooth. Set aside.

In a large skillet, melt the butter over medium heat. 

Add the thinly sliced apples, brown sugar, and spices, and cook for about 5 minutes. 

Add the cornstarch and cook for another 1-2 minutes. 

Remove from heat and set aside to cool completely. 

On a lightly floured surface, roll the brioche dough out into a rough rectangle about 24"x16" and ¼'' in thickness.

Spread the filling out evenly over the dough. 

Add the apple pie filling on top in an even layer. 

Using a ruler (or you can eyeball it), measure out twelve 1 ½" rolls by scoring lines with a knife.

Use dental floss to cut each roll by placing the floss under the dough, wrapping around, and pulling to cut through. 

Towards the end of the proof time, preheat the oven to 350 degrees F.

Bake the apple cinnamon rolls for 30-35 minutes until evenly golden.

Allow to cool in the pan for few minutes adding the icing. 

While the cinnamon rolls bake, make the icing.

Using an electric mixer, beat the cream cheese until smooth.

Add the powdered sugar a little at a time.

Add the heavy cream and mix until smooth. 

Drizzle on top of the apple cinnamon rolls while warm and enjoy!