Heat whole milk in a saucepan until lukewarm. Stir in half the granulated sugar and sprinkle fresh yeast. Let sit for 10 minutes until frothy.

In a stand mixer, combine the frothy yeast mixture with eggs, bread flour, and salt. Gradually add softened butter while mixing. Mix for 10 minutes until dough is smooth and elastic.

Shape the dough into a ball and place it in a greased bowl. Cover and chill in the refrigerator overnight for about 12 hours.

Prepare the apple filling by peeling and dicing apples. Cook in a skillet with brown sugar and cinnamon for 5-7 minutes until slightly softened. Cool before using.

Remove dough from fridge and let come to room temperature. Roll out into a large rectangle. Spoon cooled apple filling and roll up tightly. Cut into 12 pieces.

Cover the pan with a towel and let rolls rise for 1 to 2 hours until doubled in size. Preheat oven to 350°F.

Bake rolls in preheated oven for 35 to 40 minutes until golden brown. Let cool for 10 minutes before transferring to wire rack.

Prepare icing by beating cream cheese and powdered sugar until smooth. Drizzle over cooled rolls before serving.