01 - Combine warmed milk with active dry yeast in a small bowl. Allow to sit until foamy, approximately 5–10 minutes.
02 - In a large bowl, whisk together all-purpose flour, unsweetened cocoa powder, and salt.
03 - In the bowl of a stand mixer, mix granulated sugar, eggs, melted butter, vanilla extract, red food coloring, and activated yeast mixture until well blended.
04 - Gradually add dry ingredients into wet mixture. Knead using a dough hook for 8–10 minutes until the dough is smooth and elastic, or manually knead on a lightly floured surface.
05 - Transfer dough to a greased bowl, cover, and set in a warm area to rise for 1–1½ hours or until doubled in size.
06 - Deflate dough and turn onto a floured surface. Roll out into a 16x12-inch rectangle.
07 - Smooth softened butter evenly over the rolled dough. Sprinkle with brown sugar and ground cinnamon.
08 - Beginning from the long edge, tightly roll dough into a log. Slice into 12 equal pieces with a sharp knife or dental floss.
09 - Arrange rolls in a greased 9x13-inch baking dish. Cover and let rise for 30–45 minutes until rolls are puffy.
10 - Preheat oven to 350°F. Bake rolls for 22–25 minutes or until lightly golden on top.
11 - In a mixing bowl, beat cream cheese and butter until smooth. Incorporate powdered sugar and vanilla, whipping until fluffy. Add milk as needed for desired consistency.
12 - Spread frosting generously over warm rolls prior to serving.