In a mixing bowl, combine warm milk and active dry yeast. Allow to sit for about 5 minutes until frothy. Add flour, sugar, cocoa, egg, and melted butter. Mix until shaggy dough forms. Knead on a floured surface for 5-7 minutes until smooth. Place in greased bowl, cover, and let rise for 1 hour or until doubled.

While dough rises, prepare filling by mixing brown sugar, cinnamon, and melted butter until crumbly. Set aside.

Once risen, punch dough down and turn onto floured surface. Roll into a rectangle, 12x18 inches, and spread filling evenly, leaving a small border.

From one end, tightly roll the dough into a log, slice into 12 equal pieces, and place cut-side up in greased baking dish.

Cover rolls with a towel and let rise for about 30 minutes. Preheat oven to 350°F (175°C).

Bake rolls for about 25 minutes until golden brown, checking internal temperature to reach 190°F.

Let rolls cool in the pan for 10 minutes. Meanwhile, prepare the glaze by mixing cream cheese, vanilla extract, and a splash of milk until smooth. Drizzle over rolls.