In a glass bowl or measuring cup, heat milk to 115°F. Sprinkle the yeast and sugar on top of the warm milk and let sit until the top is foamy-looking, about 5 minutes.
Meanwhile, add the flour, salt, and sugar to the bowl of a stand mixer. Using the dough hook attachment, mix on low, then slowly add in yeast mixture, followed by lemon juice and butter. Finally, add one egg at a time, mixing to just incorporate before adding the next. Continue mixing, at medium speed now, until dough pulls together into a smooth-looking ball around the dough hook. Knead by hand if necessary.
Lightly oil a large glass bowl and place the dough in it. Cover with plastic wrap and allow to rise for 1 hour, or until doubled in size.
While the dough is rising, combine the brown sugar and cinnamon for the filling in a small bowl.
When the dough is ready, prepare a large non-stick work surface to roll the dough out on.
Roll the dough out to a 10×20-inch rectangle. Spread softened butter over surface, leaving a 1/2-inch border. Spread sugar mixture over dough, then top with the diced apples.
Prepare 2 round pans or a 9×13 baking pan by spraying with cooking spray or lining with parchment or foil, with some hanging over the sides for easy removal after baking, leaving enough overhang to grab later. Lightly spray the bottom and sides with cooking spray.
Starting at one of the shorter (10-inch) ends, tightly roll the dough , pinching ends and edges together well as you go. Using a sharp knife, carefully slice rolled dough into 12 equal pieces. Place in prepared pan, cover, and allow to rise for an hour, or until doubled in size.
Preheat oven to 350°F and bake for 25-30 minutes, or until centers reach 200°F.
Drizzle (lots of) caramel sauce on top of the rolls and enjoy! These are great warm or at room temp!