1. In a large bowl, combine warm milk, yeast, and a pinch of granulated sugar. Let sit for 5–10 minutes until foamy.

2. Stir in remaining granulated sugar, egg, melted butter, and salt. Gradually add flour, mixing until a soft, slightly sticky dough forms.

3. Knead on a lightly floured surface for 5–7 minutes until smooth and elastic. Place in a greased bowl, cover, and let rise in a warm place for 1 hour, or until doubled.

4. While dough rises, prepare the filling: In a small bowl, combine diced apples, brown sugar, and cinnamon. Set aside.

5. Once risen, punch down the dough and roll it into a 12×18 inch rectangle on a lightly floured surface.

6. Spread the softened butter evenly over the dough. Sprinkle the apple-cinnamon mixture over the butter.

7. Starting from the long edge, tightly roll the dough into a log. Pinch the seam to seal.

8. Cut the log into 12 equal slices (about 1.5 inches each). Arrange the slices in a greased 9×13 inch baking dish.

9. Cover loosely with plastic wrap and refrigerate overnight (8–12 hours).

10. In the morning, preheat oven to 375°F (190°C). Remove rolls from the refrigerator and let sit at room temperature for 30 minutes while the oven preheats.

11. Bake for 20–25 minutes, or until golden brown and cooked through.

12. While rolls cool slightly, prepare the glaze: In a small bowl, whisk together powdered sugar, milk, and vanilla extract until smooth.

13. Drizzle the glaze over the warm Apple Cinnamon Overnight Rolls before serving.