Warm the milk (100 to 110°F) and combine it with sugar; sprinkle yeast over it and let sit for 5 minutes.

In a large bowl, whisk flour and salt. Add the yeast mixture, egg, and softened butter; stir until combined.

Knead the dough on a floured surface for about 5-7 minutes until smooth.

Place in a greased bowl, cover, and let rise in a warm spot for about 1 hour until doubled in size.

Prepare the filling by melting butter with cream, sugar, cocoa powder, coffee powder, and chopped chocolate over low heat until smooth.

Punch down the dough and roll out into a rectangle; spread filling evenly and roll tightly.

Cut into pieces and place in a greased baking dish; let rise again for 30 minutes while preheating oven to 350°F.

Bake for about 25 minutes until golden brown; drizzle prepared icing over warm rolls.