In a bowl using a hand mixer, beat 4 tablespoons of softened butter, cinnamon, and caramel sauce. Beat in the powdered sugar and milk until creamy. Refrigerate until ready for use.
Preheat the oven to 375. Roll out the sweet roll dough into a rectangle and spread the remaining 4 tablespoons of butter over the dough. Mix the brown sugar and cinnamon then sprinkle evenly over the buttered dough.
Spread the chopped apple pie filling over the cinnamon sugar; follow by drizzling 2-3 tablespoons of caramel sauce. Tightly roll the dough lengthwise pinching the seam to close. Using a sharp knife cut even slices of dough. Layer them in a 9 x 13 baking dish about 1/2 inch to 3/4 inch apart. Bake them for 22-25 minutes.
Bring the caramel frosting to room temp. Remove the rolls from the oven to cool for 5-10 minutes. Spread the icing while they’re warm and enjoy!