in the bowl of a stand mixer add yeast, sugar, and warm milk. milk should be around 100°f which takes about 30 sec in the microwave. do not use milk that is hotter than this or you will burn your yeast.
1 cup warm milk, 2 tbsp yeast, ½ cup sugar
stir and allow ingredients to sit for about 5 min, you should see bubbles begin to form. if you don't your yeast is no good and the recipe will not work.
to the bowl add flour, salt, and eggs. mix slowly with the dough hook attachment of the stand mixer until the dough begins to pull away from the sides of the bowl.
4 cup flour, 1 tsp salt, 2 large eggs
turn the dough out onto a clean dry surface and knead for a few minutes until the dough is very smooth and stiffens up a bit.
place dough into a grease-prepared bowl and cover with plastic wrap or a clean towel and place in a warm place to rise for 1 hour.
peel and cut apples into ½" cubes place them into a large bowl and add the brown sugar, sugar, and cinnamon. stir until everything is combined and the apples are covered.
½ cup sugar, ½ cup brown sugar, 3 apples, 3 tbsp cinnamon
once the dough has risen turn it out onto the counter and roll out thin to a rectangle about 12" x 24"
cover the dough with the softened butter then sprinkle the apple cinnamon mixture evenly over the dough.
½ cup butter
starting on one of the longer sides roll the dough loosely so you have a log.
cut into 12 equal rolls using a sharp knife or a piece of dental floss
prepare a 12" x 9" baking pan with cooking spray and lay the rolls with the swirl side up evenly spaced
cover and allow to rise for 30 min
pre heat oven to 350°f
pour heavy cream into the pan to cover up to 1" of the bottom of the rolls.
heavy cream
bake for 20-25 minutes
add butter to a stand mixer with the paddle attachment, whip the butter until it has lightened in color.
1 cup butter
add caramel, and salt then whip again to combine.
½ cup caramel sauce, 3 cup icing sugar, 1 tsp salt
add icing sugar and start on a very low speed incorporating everything together increasing the speed to whip the icing till it is nice and fluffy.
when the cinnamon rolls are fully baked and a nice golden brown, remove them from the oven and spread icing on while the rolls are still hot. the frosting will melt and sink into all the nooks and crannies.
serve warm with a drizzle of extra caramel on top