In a large bowl, dissolve yeast in warm milk. Let it sit for about 5 minutes.
Add sugar, butter, salt, eggs, and flour to the bowl. Mix until well combined.
Knead the dough on a floured surface for about 5 minutes. Place in a greased bowl, cover, and let rise for 1 hour.
Preheat oven to 375°F (190°C).
Roll out the dough into a rectangle. Spread melted butter over the dough.
Mix apples, sugar, and cinnamon. Sprinkle over the dough.
Roll up the dough and cut into 12 rolls. Place in a greased baking dish.
Bake for 25 minutes or until golden brown.
Mix powdered sugar, milk, and vanilla extract for the glaze. Drizzle over warm rolls.