Salted Caramel Apple Cinnamon Rolls

Make the Dough: Whisk together the milk and yeast in a 2-cup liquid measuring cup (or small bowl) until the yeast dissolves, then whisk in the eggs.

In the bowl of a stand mixer fitted with the dough hook, mix together the flour, cornstarch, sugar, and salt on low speed until combined. With the mixer still on low speed, add the warm milk mixture in a steady stream and mix until the dough comes together, about 1 minute.

Increase the speed to medium and add the butter, one piece at a time, until totally incorporated. Continue to mix until the dough is smooth and comes away from the sides of the bowl, about 10 minutes. If after mixing for 10 minutes the dough is still wet and sticky, add up to another 4 tablespoons of flour, 1 tablespoon at a time, until the dough pulls away from the sides of the bowl.

Turn the dough onto a clean surface and knead briefly to form a round, smooth ball. Transfer the dough to a greased bowl, cover with plastic wrap, and place in a warm, draft-free area and allow to rise until doubled in size, about 2 hours.

Make the Filling: In a small bowl, stir together the brown sugar, cinnamon, and salt. Turn the dough out onto a lightly floured surface and roll into an 18-inch square. Using an offset spatula, spread the softened butter over the surface of the dough, leaving a 1/2-inch border around the edges. Sprinkle the cinnamon sugar mixture evenly over top, then sprinkle the chopped apple and drizzle with the caramel sauce.

Beginning with the edge nearest you, roll the dough into a tight cylinder and pinch the seams closed. Using a sharp knife or bench scraper, cut the roll into 12 even pieces. Place the pieces cut-side-up in a greased 9×13-inch baking dish. Cover with plastic wrap and allow to rise in a warm, draft-free area until doubled in size, about 1 hour.

Bake the Cinnamon Rolls: Preheat oven to 350 degrees F. Remove the plastic wrap and bake until the cinnamon rolls are a deep golden brown, 35 to 40 minutes. Remove from the oven and allow to cool while you prepare the icing.

Make the Salted Caramel Icing: In a small bowl, whisk together the powdered sugar, heavy cream, and salted caramel sauce until smooth. Using a small whisk or spoon, drizzle the icing over the cinnamon rolls. Serve warm or at room temperature. Leftovers should be stored tightly wrapped with plastic wrap or in an airtight container at room temperature or in the refrigerator for up to 5 days.