To make dough, combine milk, yeast, and sugar in a large mixing bowl and mix on low speed until all is incorporated
Add salt, eggs, and melted butter and mix until combined. Gradually mix in the flour until the dough comes together and pulls away from the side of the bowl. Dough should be sticky.
Knead dough in bowl, form into ball, lightly cover with flour.
Move bread into large bowl, cover with towel or plastic wrap and let sit for 45 minutes to 1 hour. Dough should double in size. Punch down in the middle and let rise again.
While dough is rising, make filling. Mix brown sugar, cinnamon, apples, butter, and lemon juice and set aside.
Lightly flour counter surface and roll out your dough.
Lightly sprinkle more cinnamon and sugar over the dough and then follow with apple mixture draining the apples just a bit if you do not like that much juice.
Pull the longest edge closest to you over the top of the apple mixture and roll the dough into a log.
Pull the edge up and over and pinch dough together. Lay parchment paper down on a rimmed baking sheet.
Pick up bread and lay bread seem down forming into a log. I formed mine into almost a half circle.
Bake at 350 degrees for 45-50 minutes or until lightly brown on top. Do not over bake.
Make your glaze by combining the syrup, powdered sugar, vanilla crown royal, and vanilla and pour over bread right out of the oven. Slice and serve warm. Add vanilla ice cream if you desire.