Spray a Bundt pan with non stick spray. Cut each roll in half and arrange 10 dough pieces on the bottom of the Bundt pan.
In a separate bowl, mix the pie filling, brown sugar, cinnamon, vanilla extract and butter. Mix to combine.
Add half of the apple mixture over the dough pieces, add the last 10 dough pieces on top, and add the remaining pie filling.
Spray a piece of plastic wrap with non stick spray and lightly cover the pan. Set in a warm place to rise until double in size and almost reach the top of the pan (about 1 1/2 hours). Don't let it rise too much, because the rolls continue to rise as they bake.
Remove the plastic wrap and place pan in a preheated 350 degree oven and bake for 35-40 minutes or until the rolls are golden brown and cooked through. Remove from oven and cool before adding glaze.
To make the glaze add the melted butter to medium size bowl. Add the powdered sugar, vanilla and milk. (Start with 1 tablespoons adding more only if needed. Use a wire whisk to mix the ingredients together. You want a pourable consistency. Drizzle over cooled bread.