Warm the milk and dissolve the yeast. Let sit for 5-10 minutes until frothy.

Mix flour, cocoa, brown sugar, and salt in a stand mixer. Add egg, melted butter, and yeast mixture; mix on low for 3 minutes until soft and sticky.

Cover the bowl and let the dough rise for 1.5 to 2 hours until doubled in size.

Combine filling ingredients in a bowl and mix until smooth. Set aside.

Roll the dough out into a rectangle, spread butter, and sprinkle filling evenly. Roll tightly and cut into 9-11 slices.

Place rolls in a greased baking dish and let rise again for 30 to 60 minutes.

Preheat oven to 350°F (180°C) and bake for 20 minutes until golden brown.

Prepare glaze by whisking together powdered sugar and heavy cream. Pour over warm rolls.