In a large mixing bowl, combine warm milk, active dry yeast, and granulated sugar. Allow to proof for about 5 minutes until frothy.

Add granulated sugar, melted butter, salt, and eggs to the mixture. Mix in 3 cups of flour until combined.

Gradually incorporate more flour until dough pulls away from sides and is soft. Knead for 5-7 minutes until smooth.

Place dough in a greased bowl, cover with a towel, and let rise for 1-2 hours until doubled in size.

Whisk together sugar, brown sugar, cinnamon, nutmeg, and salt for filling.

Roll out dough into a rectangle about 1/4-inch thick on floured surface.

Spread softened butter over dough, sprinkle with filling mixture, and scatter chopped apples on top.

Roll dough tightly from the long edge, cut into 12-14 slices and place in greased pan.

Cover the rolls and let rise for another 30 minutes while preheating oven to 350°F (175°C).

Bake rolls for 25-30 minutes until golden brown.

To make glaze, melt butter with brown sugar and milk, then whisk in powdered sugar until smooth.

Drizzle glaze over warm rolls before serving.