In a bowl, dissolve the yeast in warm milk and let it sit for 5 minutes until foamy.
Mix in sugar, melted butter, eggs, flour, salt, and cinnamon. Knead until smooth.
Let the dough rise for 1 hour until doubled in size.
Roll out the dough into a rectangle. Spread softened butter and sprinkle brown sugar and apples over it.
Roll the dough into a log and slice into rolls. Place them in a greased baking dish.
Let the rolls rise for another 30 minutes.
Preheat the oven to 350°F (175°C) and bake for 25 minutes until golden brown.
Drizzle with caramel sauce before serving.