Chocolate Cinnamon Rolls with Rich Chocolate Glaze and Espresso

Ingredients

• 2/3 cup packed light brown sugar
• 2 tablespoons black cocoa powder
• 1 teaspoon ground cinnamon
• 1/4 cup unsalted butter, softened
• 3 1/4 cups all-purpose flour, plus up to 1/2 cup additional flour if needed
• 1/2 cup unsweetened cocoa powder, sifted
• 2 teaspoons instant dry yeast or 1 packet
• 1 teaspoon fine salt
• 1 teaspoon instant espresso or coffee
• 1 cup whole milk
• 1/2 cup granulated sugar
• 1/4 cup unsalted butter, room temperature
• 1 large egg, room temperature
• 1 tablespoon unsalted butter, room temperature
• 2/3 cup milk or dark chocolate chips
• 3 tablespoons whole milk
• 1 cup powdered sugar
• 1 teaspoon vanilla extract or vanilla bean paste