Gently warm 1 cup whole milk in a saucepan. Combine with 2 tablespoons granulated sugar and 2 teaspoons active dry yeast in a large bowl. Let sit for 5-10 minutes until foamy.

In another bowl, whisk together 3 cups all-purpose flour, 1 teaspoon salt, and 1/4 cup cocoa powder.

Add 1/4 cup melted unsalted butter, 2 eggs, and 1 teaspoon vanilla extract to the yeast mixture. Whisk until smooth.

Gradually combine wet mixture with dry ingredients, stirring until a sticky dough forms.

Transfer dough to floured surface and knead for 5-7 minutes until smooth and elastic.

Place in greased bowl, cover with towel, and let rise for 1 hour until doubled.

Mix 1/2 cup brown sugar and 1 tablespoon ground cinnamon in a small bowl.

Punch down risen dough, roll into a 16x24 inch rectangle about 1/4 inch thick.

Brush dough with 1/4 cup melted butter, sprinkle with cinnamon-sugar mix and 1 cup chocolate chips.

Tightly roll the dough into a log shape, sealing edges.

Cut into 12 equal pieces and place cut-side up in a greased baking dish.

Cover with towel and let rise for 30-45 minutes until puffed.

Preheat oven to 350°F (175°C).

Bake for 25-30 minutes until golden brown.

Whisk together 1 cup powdered sugar and 2-3 tablespoons milk until desired consistency for glaze.

Cool rolls for 10-15 minutes then drizzle glaze over warm rolls.