In a large bowl, combine warm milk, yeast, and sugar. Let it sit for about 5-10 minutes until frothy.

Mix in all-purpose flour, melted butter, and egg or yogurt. Knead for about 5 minutes until you have a sticky yet smooth dough.

Transfer the dough into a lightly oiled bowl and cover with a kitchen towel. Let rise for 60-90 minutes until doubled in size.

While the dough rises, melt butter in a saucepan, combine with heavy cream, sugar, and instant coffee. Stir in dark chocolate and mix until smooth. Cool the filling.

Once risen, punch down the dough and roll it out into a rectangle. Spread the filling over the dough, leaving a border. Cut the dough into 6 strips.

Roll each strip tightly and place in a greased baking pan. Cover and let rise for another 30-45 minutes until puffed.

Preheat the oven to 375°F (190°C). Drizzle heavy cream over the rolls and bake for 20-25 minutes until golden brown.

While baking, whisk together icing sugar, instant coffee, and cream until smooth. Adjust consistency as needed.

After baking, let rolls cool slightly and drizzle the icing over them. Serve warm.