Warm the milk in a small saucepan until lightly steaming, then pour into a mixing bowl. Stir in the granulated sugar and yeast, letting sit until frothy.

In a large bowl, whisk together the flour, salt, and cocoa powder until well combined.

In another bowl, mix the melted butter, eggs, and vanilla until smooth. Fold in the frothy yeast mixture.

Gradually add wet ingredients to the dry mixture, stirring until a sticky dough forms.

Transfer dough onto a floured surface and knead for about 5–7 minutes until smooth and elastic.

Place kneaded dough in a greased bowl, cover, and let rise in a warm area for approximately 1 hour until doubled in size.

Prepare the filling by mixing brown sugar and ground cinnamon in a bowl.

Once risen, punch the dough down and roll it out to a rectangle approximately 16x24 inches.

Brush the dough with melted butter, sprinkle with the cinnamon-sugar mixture and distribute chocolate chips.

Roll the dough tightly into a log and pinch the seams to seal.

Cut the rolled dough into 12 equal pieces and place in a greased baking dish.

Cover the dish with a kitchen towel and let the rolls rise for 30–45 minutes.

Preheat the oven to 350°F about 10 minutes before the rolls finish rising.

Bake for 25–30 minutes until golden brown and puffed.

While baking, whisk together powdered sugar and milk until smooth for the glaze.

Let the rolls cool for 10–15 minutes before drizzling with the glaze.