Chocolate Sweet Rolls

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Ingredients

1 cup (240ml) whole milk, warmed to about 100°F (38°C)
6 Tablespoons (75g) granulated sugar, divided
1 Tablespoon (9g) active dry or instant yeast
5 Tablespoons (71g) unsalted butter, melted and slightly cooled
2 large eggs, at room temperature
1 teaspoon salt
4 cups (530g) bread flour (spooned & leveled), plus more as needed for hands/work surface
6 Tablespoons (85g) unsalted butter, softened to room temperature
1/2 cup (100g) packed light or dark brown sugar
2 Tablespoons (10g) unsweetened natural or dutch process cocoa powder
1 teaspoon ground cinnamon
1 teaspoon pure vanilla extract
3/4 cup (135g) semi-sweet chocolate chips or a 4 ounce semi-sweet chocolate bar, finely chopped*
3 Tablespoons (45ml) heavy cream*
1 teaspoon espresso powder*
1 and 1/2 cups (180g) confectioners’ sugar, sifted (sift after measuring)
1/2 teaspoon pure vanilla extract

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