Melt the butter in the microwave until hot, about 40 seconds. Add in the cold whole milk. Adding cold milk will cool the mixture to the right temperature for the yeast.
Then combine all the remaining ingredients for the cinnamon rolls in a stand mixer, including the butter mixture. Mix with a paddle attachment until combined.
Remove the dough to a floured surface and knead for 5 minutes. Allow the dough to rest for 10 minutes while you make the filling.
Combine all the ingredients for the filling in a stand mixer. Beat for 5-7 minutes scraping the bowl often until light and fluffy.
Roll the dough into a 12” x 12” square. Spread the chocolate cinnamon filling evenly on top using an offset spatula. Roll the dough into a tight roll. Cut the roll into 8 pieces.
Place the rolls into a 9 ½” x 14” oval pan or 9”x9” pan. Allow the rolls to proof until doubled, about 1 - 1 ½ hours. Then place the pan into the refrigerator overnight.
The next day, preheat an oven to 350 F. Allow the rolls to sit at room temperature for 30 minutes before baking. Then bake them for 43-45 minutes until nicely puffed and golden brown on top.
When the rolls are baking, combine the ingredients for the glaze. The glaze will be thick! Allow the rolls to sit for 10 minutes after removing them from the oven. Then dollop the glaze evenly over the surface of the hot cinnamon rolls. Spread the glaze evenly over the tops with an offset spatula. Serve warm!
Tips
The sweetened condensed milk glaze is thick for a reason! The thickness allows the glaze to melt without getting lost on top of hot rolls.
