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DOUGH:
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To make the dough, combine the milk, vegetable oil and sugar in a large saucepan or small pot. Heat it until just about to boil, but don't allow it to boil. Turn off the heat and let it cool until warm (110u00b0 - 115u00b0).
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Add 4 cups of the flour and the yeast; stir to combine. The dough will be very sticky at this point. Cover the pot and let it rise for an hour.
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Add the remaining flour, the baking soda, the baking powder and the salt. Stir to combine. Then you can proceed with the rolls OR refrigerate the dough, covered, until you need it.
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FILLING:
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To make the filling, saute the apples in a large skillet over medium-high heat for 3 to 4 minutes. Remove them to a plate; set aside.
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In the same skillet over medium heat, add a stick of butter and a cup of brown sugar. Stir it around until the butter melts and the sugar dissolves, then pour in the cream. Stir it around and let it bubble up and thicken for about a minute. Turn the heat to low and add the apples back to the skillet. Sprinkle in the cinnamon, stir the mixture and let it thicken for another 1 to 2 minutes. Spoon it into a bowl to cool.
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ROLLS:
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When ready to make the rolls, preheat the oven to 375u00b0. Roll out the dough on a floured surface to a rectangle about 10 x 30 inches. Spoon the caramel apples all over the dough and spread it out evenly. Roll the dough toward you into a long, tight roll. Pinch the seam when you get to the end, then turn the roll over so that it's seam side down.
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Slice the dough into rolls 1/2 inch to 3/4 inch thick and place them into disposable roil cake pans with a little melted butter spread into the bottom of each pan (the rolls will fill about 3 to 4 pans.) Set the rolls aside and let them rise for 20 to 25 minutes. Place in preheated oven and bake for 15 to 18 minutes, or until they're golden.
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ICING:
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While the rolls are rising or baking, make the icing: Melt the butter and brown sugar in a saucepan over medium heat. Add the brown sugar and let it dissolve and start to bubble. Add the cream, then cook for 2 minutes, whisking constantly. Turn off the heat and add the powdered sugar and whisk together. Add up to 2 more cups of powdered sugar to get to the consistency you want.
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Remove the rolls from the oven and immediately frost with the icing and spread to coat all the rolls generously.
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Serve warm.
