Proof the yeast in warm water until foamy. Whisk together milk, melted butter, sugar, salt, and eggs. Stir in yeast, cocoa, and 2 cups flour. Add remaining flour until a soft dough forms. Knead 6 to 8 minutes, cover, and let rise 1 hour until doubled.

Punch down dough, roll to a 12x18 rectangle. Spread with softened butter, then sprinkle with brown sugar, cinnamon, and chocolate chips. Roll up tightly from a long side.

Cut log into 12 slices and place cut-side up in a greased 9x13 pan. Cover and refrigerate at least 8 hours. Remove from fridge and let sit at room temperature while oven preheats to 350°F.

Bake 20 to 25 minutes until edges are golden. Beat cream cheese, butter, powdered sugar, vanilla, and milk until smooth. Let rolls cool 5 minutes, then glaze and serve.