Homemade cinnamon rolls bursting with the tart sweetness of apples and the buttery richness of salted caramel.
In a small bowl whisk warm water, 1/4 cup sugar, and yeast together. Set aside for 8-10 minutes until the mixture begins to bubble (the yeast has been activated).
In the large bowl of your stand mixer, whisk together melted butter, egg, warm milk, and salt. Add the yeast mixture. Gradually add in the flour, 1 cup at a time (you will need to switch to a wooden spoon for this).
Using the dough hook attachment, knead the dough on low speed in your stand mixer for 5 minutes. Check the consistency of the dough; it should feel soft and moist, but not sticky. Knead on low speed for 5 more minutes or until it clears the sides of your bowl. (you can do this by hand on a lightly floured work surface if you prefer).
Turn dough out onto a lightly floured surface and knead by hand for 30 seconds.
Lightly oil a large bowl. Transfer dough to the bowl, cover with plastic wrap or a clean kitchen towel, and place in a warm place to rise (the oven or microwave - turned off - work well); about 90 minutes. It should double in volume.
While the dough is rising, heat a large skillet to medium high heat. Add 5 tbsp butter and stir until melted. Add the apples, granulated sugar, brown sugar, and spices. Saute until the apples are just tender and lightly caramelized, 5-6 minutes. Remove from heat and let cool until you are ready to use them.
When the dough has risen, remove the cover and punch it down, then remove from bowl onto a floured surface.
Roll dough into a 16x24 inch rectangle. with the long side nearest you. Spread the cooled apple mixture over the dough, leaving a 3/4 in border along the top edge. Beginning with the long edge nearest you, roll the dough into a tight cylinder lengthwise, so it is 24 inches long.
Seam side down, cut cylinder into 2-inch slices and place in a buttered 9x13 baking pan about 1 inch apart. At this step you can cover tightly with plastic wrap and place in the refrigerator if you are cooking them the next morning. If not, go on to the next step.
Remove from refrigerator if you stored them overnight. Allow tightly wrapped rolls to rise for one hour in a warm area of your kitchen. About 20 minutes before they are finished rising, preheat oven to 375 degrees.
Uncover the rolls and bake for 20 minutes, or until the edges are golden brown. Allow the rolls to cool for 15 minutes, then drizzle icing over them.
Whisk all the icing ingredients together and drizzle over the rolls.