Bring milk to a boil. Remove from heat as soon as it begins to boil.
Pour the hot milk into a mixing bowl with the dough hook attached to the mixer.
Add butter and stir until butter melts completely.
Stir in hot cocoa powder and let cool.
Once the mixture is luke warm, stir in the yeast and let it foam for about 10 minutes. (If you add the yeast while the mixture is hot, it will not activate!)
After 10 minutes, mix the mixture with the dough hook on low speed.
Add eggs, salt, and flour and continue mixing until the dough pulls away from the sides of the bowl, adding flour if dough is too sticky.
Cover the bowl and let rise for 60-90 minutes, till doubled in size.
While dough is rising, stir together all filling ingredients.
When dough is ready, roll out into a 16×20 rectangle.
Spread filling evenly across rectangle, leaving about an inch uncovered on one of the long sides of the rectangle.
Starting on the opposite end from the uncovered dough, roll the dough into a log.
Slice dough into 12 equal rolls.
Line a 9×13 baking dish with parchment paper and place the rolls in the dish.
Preheat the oven to 350 F and let the rolls rise for 30 minutes.
While rolls are cooling, whisk together all glaze ingredients.
Once cooled, cover generously with glaze. (This makes a lot of glaze so you can be VERY generous!)
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