Warm the milk to 105–110°F (40–43°C). Stir in the yeast and 1 tablespoon of the measured sugar. Rest for 5–10 minutes until foamy.
Add the remaining sugar, eggs, and melted butter. Stir in 3 cups flour and the salt. Gradually add the remaining flour as needed to form a soft dough.
Knead by hand for 7–9 minutes, or with a dough hook for 5–6 minutes, until smooth and slightly tacky.
Place the dough in a lightly greased bowl, cover, and rise in a warm place for 60–75 minutes, or until roughly doubled.
Melt 2 tablespoons butter in a saucepan. Add the diced apples, brown sugar, and cinnamon. Cook for 5–7 minutes.
Stir the cornstarch into the apples and cook for 1 minute. Transfer to a shallow dish and cool completely for about 20–30 minutes.
Roll the risen dough into a 14 × 18-inch rectangle about ¼ inch thick.
Mix the softened butter, brown sugar, and cinnamon. Spread evenly over the dough, leaving a ½-inch border along one long edge.
Distribute the cooled apple filling evenly over the cinnamon layer, leaving excess liquid behind.
Starting from the long edge, roll the dough into a snug log and gently seal the uncovered edge.
Divide the log into 12 equal rolls, about 1½ inches wide.
Arrange the rolls cut-side up in a greased 9 × 13-inch baking dish.
Cover and rise for 30–45 minutes until puffy. Preheat the oven to 350°F (175°C) during the final 15 minutes.
Bake for 25–30 minutes, until the tops are lightly golden and the centers are cooked through.
Rest for 10 minutes, then drizzle approximately ½ cup caramel sauce over the warm rolls.
