Warm the milk in a small saucepan until lightly steaming, then pour it into a mixing bowl. Stir in the granulated sugar and yeast; let sit for 5–10 minutes until frothy.

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

In another bowl, mix melted butter, eggs, and vanilla extract until smooth. Gently fold in the 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 5–7 minutes until smooth and elastic.

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

Mix brown sugar and cinnamon for filling in a small bowl.

Once the dough has risen, punch it down and roll it out on a floured surface into a rectangle.

Brush the rolled-out dough with melted butter and sprinkle the cinnamon-sugar mixture and chocolate chips evenly over it.

Roll the dough tightly into a log shape, pinching seams to seal well.

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

Cover with a towel and allow to rise for an additional 30–45 minutes.

Preheat the oven to 350°F (175°C).

Bake for 25–30 minutes or until golden brown.

Whisk powdered sugar and milk for glaze until smooth.

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