In a large bowl, combine the warm milk with instant yeast and allow it to rest for approximately 5 minutes until it becomes frothy.
Add the melted butter, granulated sugar, and salt into the yeast mixture, stirring to blend them together.
Gradually add the flour, mixing until a dough forms. Proceed to knead the dough for approximately 5 minutes until it attains a smooth and elastic texture.
Transfer the dough to a greased bowl, covering it with a clean kitchen towel. Leave it to proof in a warm location for 1 hour or until it doubles in size.
While the dough is undergoing proofing, prepare the apple filling by combining the finely chopped apples, brown sugar, and ground cinnamon in a small bowl.
Once the dough has doubled in size, deflate it by punching it down. Roll it out on a floured surface into a rectangular shape.
Evenly spread the softened butter over the dough, followed by a sprinkling of the apple filling mixture.
Roll up the dough tightly, starting from the longer edge, to create a log. Proceed to cut the log into 12 equal slices.
Arrange 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 approximately 25 minutes or until they attain a golden brown colour and are thoroughly cooked.
While the rolls are baking, prepare the glaze by combining icing sugar with just enough milk to achieve a thick yet pourable consistency.
Once the rolls are out of the oven, drizzle the glaze over them while they are still warm.
Serve these delectable Apple Cinnamon Rolls and relish the flavours!