Combine the brioche dough ingredients in a bowl until sticky, then knead for 8-10 minutes until smooth. Let it rise for 1-2 hours until doubled.

Prepare apple filling by sautéing chopped apples with brown sugar and cinnamon until tender. Let cool.

Roll out the dough into a large rectangle about ¼ inch thick on a floured surface.

Spread brown sugar mixture over the rolled-out dough, followed by the apple filling and toasted pecans.

Roll the dough tightly from one edge into a log and slice into 12 equal pieces.

Place sliced rolls in a greased dish, cover, and let proof for 45 minutes to 1 hour.

Preheat oven to 350°F (175°C) and bake rolls for 25-30 minutes until golden.

Mix cream cheese and powdered sugar until smooth. If needed, add milk for drizzling consistency.

Allow rolls to cool slightly, then drizzle or spread frosting over them.