Make the dough: Knead the flour, dry yeast, sugar, vanilla sugar, plant-based milk, and oil or vegan butter for about 5–10 minutes, until the dough is smooth and supple.
Let the dough rise: Form the dough to a ball, place in a bowl, cover and let rise in a warm place for about 1 hour, or refrigerate for 8–12 hours. If the dough has risen overnight in the refrigerator, let it sit at room temperature for about 1 hour before continuing.
Prepare the filling: Mix the cinnamon and sugar. Peel the apples and cut them into small pieces.
Roll out the dough: On a lightly floured work surface, roll the dough evenly into a rectangle at least 5 mm thick.
Add the filling: Brush the dough with oil or softened vegan butter. Sprinkle evenly with the cinnamon-sugar mixture, then distribute the apple pieces over the top. Leave a border of about 2 cm along one long side.
Roll it up: Starting from the opposite long side, roll the dough up relatively tightly toward the uncovered edge.
Cut the rolls: Using a sharp knife, cut the log into slices about 2–3 cm thick. You should get approximately 12 rolls, depending on the size of the rectangle and the thickness of the slices.
Let them rise again: Place the apple cinnamon rolls on a baking sheet lined with parchment paper or in a greased baking dish. Cover with a tea towel and let rise for another 30 minutes at room temperature.
Preheat the oven: Meanwhile, preheat the oven to 180°C (360°F) using top and bottom heat.
Bake: Bake on the middle rack for about 20–25 minutes, until the rolls are lightly golden brown. Let them cool.
Make the glaze: Mix the powdered sugar and lemon juice until smooth. Drizzle the glaze over the cooled apple cinnamon rolls with a spoon and let it set briefly before serving.