For the Dough:

1. Heat the milk, oil, and sugar together in a saucepan over medium heat, stirring until the sugar dissolves.
2. Pour the mixture into the bowl of a stand mixer and allow to cool for a few minutes.
3. Sprinkle the yeast over top and allow it to sit until foamy, about 5 minutes.
4. Add in 4 cups of the flour and mix with the dough hook until combined.
5. Cover the bowl and set in a warm place to rise for an hour.

For the Filling:

1. While the dough is rising, add half the stick of butter and ¼ cup of the sugar to a large skillet set over medium heat.
2. Once the butter is melted, add the diced apple and a pinch of salt and stir. Cook, stirring frequently, for roughly 10 minutes or until the apples are soft.
3. Remove from the heat, stir in the vanilla, and set aside to cool before adding to the rolled out dough.

To Assemble the Rolls:

1. Once the dough has doubled in size, stir in the remaining ½ cup flour, salt, baking soda, and baking powder.
2. Roll the dough out to ¼-inch thickness on a well-floured surface. You want a large rectangular shape.
3. Melt the remaining ½ stick of butter for the filling and pour it over the rolled out dough.
4. Sprinkle the remaining ¼ cup sugar, the brown sugar, and the cinnamon evenly over the melted butter.
5. Top with the cooked apple mixture, spreading it out evenly.
6. Gently roll the dough into a log, working from the long end of the rectangle.
7. Cut the log into 12 even pieces and place cut-side up in a buttered 9 x 13 baking dish.
8. Cover the baking dish with a towel and set aside to rise again for 20 minutes. Preheat the oven to 375°F during this time.

For the Topping:

1. While the cinnamon rolls are rising the second time, make the topping by combining the oats, spices, flour, sugars, and salt in a bowl.
2. Cut the cold butter in until the mixture is crumbly and the butter is evenly distributed. The mixture is ready when it can stick together when pinched between two fingers.
3. Top the risen cinnamon rolls with the streusel topping.
   Bake the cinnamon rolls for 20-23 minutes or until they are puffed, golden, and the topping is set.
4. Serve warm.