Combine ½ cup warm milk, ¼ cup granulated sugar, and 2 ¼ teaspoons active dry yeast in a large bowl. Let sit for 5 minutes until frothy. Add ½ cup melted unsalted butter, 2 large eggs, and 1 teaspoon salt. Gradually fold in 4 cups all-purpose flour until a soft dough forms. Cover and let rise in a warm place for about 30 minutes.

Mix together ½ cup packed brown sugar and 2 tablespoons ground cinnamon in a small bowl. Peel, core, and dice 2 medium apples into small pieces.

Turn risen dough onto a floured surface and roll out to ¼ inch thick. Spread the cinnamon-sugar mixture evenly over the dough. Sprinkle diced apples and ¼ cup chopped pecans on top.

Tightly roll the dough from one long edge into a log shape. Slice the log into 12 equal pieces and place in a greased baking dish. Cover and let rise for an additional 20 minutes.

Preheat oven to 350°F (175°C). Bake the rolls for 25–30 minutes, until golden-brown. The warm aroma of cinnamon and apples will signal they are done!

In a medium bowl, whisk together 1 cup powdered sugar, ¼ cup packed brown sugar, 2 tablespoons milk, and 1 teaspoon vanilla extract until smooth. Adjust consistency if needed.

Drizzle the brown sugar glaze generously over warm rolls and serve immediately for a delightful breakfast or dessert.