In a large mixing bowl dissolve yeast in warm water. Add milk, butter, sugar, salt, eggs, and 2 cups flour beat on low speed for 3 min. Stir in remaining flour to form a soft dough. Turn on a lightly floured surface. Knead until smooth and elastic. Place in a greased bowl. Cover and refrigerate for 1-2 hours. Punch down. Refrigerate overnight.
Punch dough down. Separate into 2 portions. Roll on floured surface. Place on greased baking sheet. Spread with 1/4 cup of butter. For the filling combine brown sugar, flour, cinnamon, nutmeg, and allspice in large bowl. Add apples, toss to coat. Spoon down center third of each rectangle. On each long side, cut 1-in wide strips about 3-in into center on both sides. Start with one end and fold alternating strips at an angle across filling; seal engs. Cover and rise until nearly doubled about 50 min.
Bake at 350°F for 30-40 min until golden brown. Remove pan to wire rack. Combine icing ingredients in a small bowl. Drizzle over the warm bread.