Prepare the Dough: In a small bowl, combine warm milk, sugar, and yeast. Let it sit for 5-10 minutes until frothy. In a large bowl, mix flour, cocoa powder, and salt.
Combine Ingredients: Add the milk mixture, melted butter, egg, red food coloring, and vanilla extract to the dry ingredients. Mix until a dough forms.
Knead the Dough: Transfer the dough to a floured surface and knead for about 5-7 minutes until smooth. Place it in a greased bowl, cover, and let it rise for 1 hour in a warm place.
Roll and Cut: After rising, punch down the dough and roll it out into a rectangle about ¼ inch thick. Spread softened butter over the dough, then sprinkle with sugar and cinnamon.
Shape the Rolls: Roll the dough tightly into a log and cut into 12 equal pieces. Place the rolls in a greased baking dish, cover, and let them rise for another 30 minutes.
Bake the Rolls: Preheat your oven to 350°F (175°C). Bake the rolls for 20-25 minutes until golden. Let them cool slightly.
Make the Frosting: In a bowl, beat together cream cheese, butter, and vanilla until smooth. Gradually add powdered sugar and mix until fluffy. Add milk as needed for desired consistency.
Frost and Serve: Spread the cream cheese frosting over the warm rolls and enjoy!