Activate the yeast: Warm the milk to 100–110°F. Pour into a mixing bowl and sprinkle the yeast over the top. Let sit for 5–10 minutes until foamy.

Mix wet ingredients: Add brown sugar, egg, egg yolk, and vanilla extract. Stir to combine.

Make the dough: Add flour, sifted cocoa powder, instant coffee, salt, and softened butter. Knead with a dough hook on speed 2 for 6–7 minutes, scraping the bowl as needed, until the dough forms. It should be soft and slightly sticky. If too wet, add a tablespoon of flour at a time.

First rise: Cover the bowl with plastic wrap or a damp towel and let the dough rise in a warm spot for 60–90 minutes or until doubled in size.

Prepare filling: Mix softened butter, cocoa powder, cinnamon, dark brown sugar, vanilla, and instant coffee into a smooth paste.

Shape the rolls: Turn the dough out onto a cocoa-dusted surface. Roll it into a large rectangle (about 14×18 inches). Spread the filling evenly. Roll the dough tightly into a log and cut into 12 equal pieces.

Second rise: Arrange rolls in a greased 9×13-inch baking dish. Cover and let rise for another 60–90 minutes until puffy.

Bake: Preheat oven to 350°F (175°C). Bake rolls for 30–35 minutes until they’re golden and cooked through.

Make glaze: Whisk powdered sugar, cocoa powder, vanilla, and cream until smooth. Drizzle over warm rolls.