In a large bowl, combine flour, sugar, and yeast. Add warm milk and melted butter, mixing until a soft dough forms.

Knead the dough on a floured surface for 5-7 minutes until smooth and elastic. Cover and let rise in a warm place for 60 minutes.

While dough rises, sauté diced apples with brown sugar and cinnamon in a pan over medium heat until softened, about 5 minutes. Set aside to cool.

Roll the dough into a 12x18 inch rectangle. Spread the apple mixture evenly over the surface, leaving a small border at the edges.

Roll the dough tightly into a log and cut into 12 equal slices. Place in a greased 9x13 baking dish and let rise for another 30 minutes.

Preheat oven to 350 degrees F and bake the rolls for 20-25 minutes until golden brown.

Whisk together cream cheese, powdered sugar, and milk until smooth. Drizzle over warm rolls before serving.