Follow these easy steps to create your Apple Cinnamon Rolls:

1. Prepare the Dough: In a small bowl, warm the milk until it’s just warm to the touch. Stir in the yeast and a teaspoon of sugar, and let it sit for about 5-10 minutes, or until bubbly.
2. Combine Ingredients: In a large mixing bowl, combine the flour, remaining sugar, salt, and cinnamon. Make a well in the center. Add the eggs, melted butter, and yeast mixture into the well. Mix until a dough forms.
3. Knead the Dough: Transfer the dough to a floured surface and knead for 5-7 minutes until smooth and elastic. Place it in a greased bowl, cover with a kitchen towel, and let it rise in a warm place for 1 hour, or until doubled in size.
4. Prepare the Filling: While the dough is rising, mix the diced apples, brown sugar, and raisins in a separate bowl.
5. Roll Out the Dough: Once the dough has risen, punch it down and roll it out into a rectangular shape (about 16×24 inches).
6. Spread the Filling: Spread a layer of softened butter over the rolled-out dough, then sprinkle the apple mixture evenly across it, ensuring every corner is covered.
7. Roll the Dough: Starting from one long side, carefully roll the dough into a log shape. Pinch the seam to seal.
8. Slice the Rolls: With a sharp knife, cut the rolled dough into 12 equal slices.
9. Prepare for Baking: Place the rolls in a greased baking dish, cover with a towel, and let rise for an additional 30 minutes.
10. Preheat Oven: While the rolls are rising, preheat your oven to 350°F (175°C).
11. Bake the Rolls: Bake the rolls in the preheated oven for 25-30 minutes until golden brown.
12. Prepare the Icing: In a small bowl, whisk together powdered sugar and milk to create a smooth icing.
13. Cool and Ice: Once baked, remove the rolls from the oven and let them cool for about 10-15 minutes before drizzling with icing.