Add the warm milk and yeast to a bowl and stir. Let it sit for a few minutes to activate.

Once it poofs a bit, add the butter, eggs, and white sugar. Beat the ingredients until combined.

Add the 4 cups of flour and salt. Beat until the dry ingredients are JUST mixed, then stop.

Let the mixture sit for 5 minutes.

Attach the dough hook and knead for 5-7 minutes until it is tacky. If you find the dough too sticky, add the extra flour, but do so 1 tablespoon at a time until the dough is how you want it.

Place a clean damp towel over the dough and let it rise for 30 minutes at room temperature.

As the dough is rising, make the filling. Add the cubed softened butter, sugar, and cocoa powder to a bowl and blend with a fork.

Add the vanilla until combined.

Place the dough and a clean floured surface and fold into a large rectangle. It should be about 1/2-inch thick and 9 X 13 inches in size.

Spread the filling over the dough evenly and make sure it's covered with it.

Roll the dough lengthwise to make a log shape.

Use a sharp knife and cut into 10-12 pieces. Each roll should be about 2 inches tall.

Place the cut rolls into the pan, and leave a small space around if possible.

Cover the rolls and let them rise for 20 minutes to double in size.

Preheat the oven to 375 degrees.

After 20 minutes, pour the heavy cream on top of the rolls.

Bake in the oven for 24 minutes or until puffed and golden brown.

As they are baking, make the icing.

Add the cream cheese and butter to a bowl and whip with a hand mixer until it is smooth.

Pour in the caramel sauce and vanilla and blend.

Lastly, add the powdered sugar 1 cup at a time, mixing between each one.

If it is too thick, add 1 tablespoon of milk to thin it out.

Drizzle the glaze on top of the baked rolls. Serve!