In the bowl of a stand mixer, whisk together the warm milk and yeast.

Let sit for about 5 minutes until it becomes foamy on top.

Add eggs, softened butter, sugar, and salt.

Stir in the cocoa powder and 4 cups of flour.

Let the dough rest for 5 minutes — this helps the cocoa hydrate.

Knead with the dough hook for 5–7 minutes, adding the extra tablespoons of warm milk as needed until the dough becomes soft, slightly sticky, and smooth.

Fold in chocolate chips if using.

Cover and let rise for 30 minutes.

Mix butter, peanut butter, brown sugar, cinnamon, and vanilla until smooth and fudgy.

Fold in chocolate chips if you want extra melty pools inside the swirl.

Roll the dough into a large rectangle about ½-inch thick.

Spread the peanut butter fudge filling evenly across the surface.

Roll up tightly and slice into 12 large rolls.

Arrange the rolls in a greased 9×13" pan.

Cover and rise for another 20 minutes.

Preheat oven to 375°F.

Warm the heavy cream and pour it over the risen rolls — this helps keep the centers soft and gooey.

Bake for 20–22 minutes, or until the rolls are set but still soft in the middle.

Beat all frosting ingredients together for 3–5 minutes until cloud-like, silky, and fluffy.

Spread over warm rolls so it melts into every swirl and crack.

Beat frosting ingredients 3–5 minutes until fluffy.