To make the dough:
Place the potatoes in a small saucepan and cover with cold water. Bring to a boil over medium heat and cook until the potatoes are very tender. Drain and mash until smooth. Measure out 1 cup of the mashed potatoes.
In a small bowl or measuring cup, add the yeast to the warm water along with 1 teaspoon of the sugar; set aside to proof, about 5 to 10 minutes. The yeast will expand as it “grows” so use a container to allow room for this.
In a large mixing bowl pour the scalded milk over the shortening, mix on low using the heat from the milk to dissolve the shortening. Cool to lukewarm, about 110 to 115-degrees. Slowly stir in 4 cups of the flour, kosher salt, the remaining 1 cup of sugar plus the mashed potatoes, eggs, and the dissolved yeast. Add the remaining 3 cups of flour, one cup at a time, mixing well after each addition.
Place the dough in a large bowl that has been lightly greased or sprayed with a cooking spray, turning the dough once to coat. (This keeps a film from forming on top of the dough.) Cover the bowl with plastic wrap, set the bowl in a warm spot and let the dough rise until doubled, about 45 minutes to 1 hour.
To make the filling:
In a small bowl mix together 2 cups of the brown sugar and 4 tablespoons of the cinnamon.
Melt 3 tablespoons of the butter in a large sauté pan over medium heat. Add the apples with the remaining 2 tablespoons brown sugar and ½ teaspoon cinnamon.
Cook until the apples are very tender, about 10 to 12 minutes. Remove from the heat and stir in the vanilla bean paste or vanilla extract. Set aside to cool while you roll out the dough
To make the apple cinnamon rolls:
Turn the dough out onto a floured service and divide it in half (into fourths if you want smaller rolls). Using a floured rolling pin, roll each section of the dough out on a floured surface into a rectangle about 12” x 20” and about ½” thick.
Brush the top of the dough with ¼ cup of the melted butter, covering from edge to edge. Spread ½ of the dark brown sugar and cinnamon mixture on top of the butter, about 1 cup, using your hands to cover thoroughly and evenly.
Then spread ½ cup of the pecans and ½ cup of the raisins over the brown sugar and cinnamon.
Spread half of the cooked apples out over the pecans and raisins. Repeat with the remaining dough.
Starting with the longest edge, roll up the dough as tightly and evenly as possible. Once you have the dough in a roll, take a sharp knife and cut into 1” slices. Carefully place rolls into baking pans that have been lightly sprayed with a cooking spray. (I use two 9” x 13” x 3” glass baking dishes plus one 8” x 11” for a full recipe.) The rolls should be touching but with a bit of room to rise. Repeat with the remaining dough.
Cover the pans with plastic wrap, place them in a warm place, and let the rolls rise until doubled, about 30 to 40 minutes.
Bake at 350-degrees for 20 to 25 minutes or until golden brown on top and bottom. The bread will sound “hollow” when tapped on top. Allow the cinnamon rolls to cool slightly while you make the icing.
To make the icing:
In a small bowl, whisk the powdered sugar with the half and half and vanilla extract until smooth.
Drizzle across the cinnamon rolls.