Warm your milk in the microwave for one minute.
Combine milk, yeast, and sugar in a mixing bowl with your stand mixer. Let the mixture sit for 8-10 minutes until the yeast is bubbling.
Whisk eggs in a small bowl, add to the bubbled yeast mixture, and whisk to combine.
Using your dough hook, add flour to the yeast mixture and mix until a shaggy dough has formed (2-3 min).
Add the butter and beat in the mixer for 8-10 min until a smooth dough ball has formed.
Cover the dough and let sit for 2 hours or until the dough has doubled in size.
While the dough is rising, combine apples, white sugar, and cinnamon in a large frying pan. Cook the apple mixture for 5-8 minutes or until the apples have softened.
Add the brown sugar to the apple mixture and mix until well incorporated. Let them cool.
Once the dough has doubled in size, remove it from the bowl and roll it out into a large rectangle.
Pour the cooled cinnamon apple mixture onto the dough and spread out evenly.
Roll dough tightly and cut into 6-8 jumbo cinnamon rolls.
Place rolls in a baking pan, if any filling comes out in the rolling and cutting process just spread it over the tops of the rolls.
Bake at 350 degrees F for 45-50 minutes or until golden brown.
For the icing: Mix powdered sugar, butter, and cream cheese into a bowl for the icing and whisk until smooth.
Let the cinnamon rolls cool before adding icing to the tops.