Prepare the Dough: Combine brioche dough ingredients in a large mixing bowl ensuring the milk is lukewarm. Knead for 5-10 minutes until smooth, cover, and let it rise in a warm place for 1-2 hours.

Make the Fillings: Heat apple pie filling, brown sugar, and ground cinnamon in a saucepan over medium heat for 5-7 minutes, then let cool slightly.

Roll Out Dough: Punch down the risen dough, roll it into a 12x15-inch rectangle, and spread the apple filling evenly, sprinkling pecans on top if using.

Form Rolls: Roll the dough tightly into a log, slice into 1¼-inch sections, and place them in a greased baking dish.

Second Rise: Cover the dish with a kitchen towel and let the rolls rise for 30-60 minutes until puffed up.

Bake: Preheat oven to 350°F (175°C) and bake the rolls for 25-30 minutes until golden brown and soft, checking for an internal temperature of about 190°F (90°C).

Frost: Let the rolls cool for about 10 minutes, then mix cream cheese and powdered sugar to prepare frosting and spread it on the warm rolls.