Make Dough
Mix warm milk, 2 tbsp sugar, and yeast. Let sit 5–10 min until foamy.
Add melted butter, eggs, vanilla, and remaining sugar. Stir.
Add salt and flour, mix to a soft dough. Knead 8–10 min until smooth.
Place in greased bowl, cover, and rise 1–1½ hrs until doubled.
Prepare Filling
Cook apples in butter 5–7 min until slightly soft.
Stir in brown sugar, cinnamon, nutmeg, cloves, and salt.
Add cornstarch and lemon juice; cook 1 min to thicken. Cool completely.
Assemble
Punch down dough and roll into a 16x12 in rectangle.
Spread butter, sprinkle cinnamon sugar, then cooled apples.
Roll up tightly and cut into 12 pieces.
Place in greased 9x13 in pan, cover, and rise 45–60 min until puffy.
Bake
Preheat oven to 375°F.
Bake 25–30 min until golden (internal temp 190°F). Cool 10 min.
Glaze
Beat cream cheese and butter until smooth.
Mix in powdered sugar, milk, vanilla, and salt until drizzleable.
Spread over warm rolls and serve.