In a mixing bowl, combine warm milk, melted butter, and sugar. Sprinkle yeast on top and let it sit for 5 minutes.

Add egg and salt, then gradually mix in flour until a soft dough forms.

Knead the dough on a floured surface for about 5 minutes until smooth. Place in a greased bowl, cover, and let rise for 1 hour.

In a bowl, mix cocoa powder, brown sugar, and espresso powder. Add softened butter and mix until crumbly.

Preheat oven to 350°F (175°C). Roll out the dough into a rectangle on a floured surface.

Spread the filling evenly over the dough, then roll it up tightly from the long side.

Cut the roll into 8 equal pieces and place them on a greased baking sheet. Let rise for another 30 minutes.

Bake the rolls in the preheated oven for 25 minutes or until golden brown.

While baking, mix powdered sugar, milk, and vanilla extract to make the glaze.

Once rolls are done, drizzle the glaze over them while still warm.