Warm 1 cup of milk. In a mixer, combine 3 cups of flour, ½ cup cocoa, ¼ cup brown sugar, and 1 tsp salt. Add warm milk, 1 beaten egg, and ¼ cup softened butter. Mix until soft and slightly sticky.

Cover the bowl and let dough rise in a warm area for 1½ to 2 hours, until it has doubled in size.

Mix ¼ cup brown sugar, ¼ cup cocoa, 1 tbsp cinnamon, and 1 tsp vanilla extract for the filling.

Punch down risen dough, roll into a rectangle, spread ¼ cup softened butter and filling. Roll tightly and slice into 9-11 pieces.

Place sliced rolls in a greased dish, cover, and let rise for 30 to 60 minutes.

Preheat oven to 350°F (180°C). Bake for about 20 minutes, until tops are golden brown.

Combine 1 cup powdered sugar, 2 tbsp cocoa, and 2-4 tbsp heavy cream for glaze. Drizzle over warm rolls.