Prepare the Dough:

1. Activate the Yeast: In a small bowl, combine the warm milk (about 110°F or 43°C), sugar, and yeast. Stir and let it sit for about 5 minutes until it becomes foamy.
2. Mix the Wet Ingredients: In a large bowl, whisk together the melted butter, egg, red food coloring, and vanilla extract. Once the yeast mixture is ready, add it to the wet ingredients and stir to combine.
3. Add the Dry Ingredients: Gradually add the flour and salt to the wet ingredients. Mix with a spoon or your hands until a dough starts to form. If the dough is too sticky, add a little extra flour, one tablespoon at a time.
4. Knead the Dough: Transfer the dough to a lightly floured surface and knead for about 5-7 minutes until it becomes smooth and elastic. Alternatively, you can use a stand mixer with a dough hook attachment.
5. Let the Dough Rise: Shape the dough into a ball and place it in a lightly greased bowl. Cover it with a clean kitchen towel or plastic wrap and let it rise for about 45 minutes, or until it doubles in size.

Prepare the Filling:

6. Make the Filling: While the dough is rising, mix together the softened butter, brown sugar, cinnamon, and cocoa powder (if using) in a small bowl until well combined. Set it aside.

Assemble the Cinnamon Rolls:

7. Roll Out the Dough: Once the dough has risen, punch it down and transfer it to a lightly floured surface. Roll the dough into a rectangle, about 16×12 inches (40×30 cm) in size.
8. Spread the Filling: Using a spatula or the back of a spoon, evenly spread the cinnamon-sugar mixture over the entire surface of the dough.
9. Roll Up the Dough: Starting from one long edge, tightly roll the dough into a log. Pinch the edges to seal the roll.
10. Cut the Rolls: Using a sharp knife or dental floss, cut the dough log into 12-16 even pieces, depending on your preferred size. Place the rolls in a greased 9×13-inch baking dish.

Let the Rolls Rise:

11. Second Rise: Cover the rolls with a kitchen towel and allow them to rise for an additional 20-30 minutes, or until they puff up and fill the baking dish.

Bake the Cinnamon Rolls:

12. Preheat the Oven: While the rolls are rising, preheat your oven to 350°F (175°C).
13. Bake the Rolls: Place the rolls in the preheated oven and bake for 20-25 minutes or until the tops are golden brown and the cinnamon rolls are cooked through.
14. Cool Slightly: Once done, remove the cinnamon rolls from the oven and allow them to cool for about 10 minutes before frosting.

Prepare the Cream Cheese Glaze:

15. Make the Glaze: In a medium bowl, whisk together the softened cream cheese, powdered sugar, butter, and vanilla extract. Add milk, one tablespoon at a time, to reach your desired glaze consistency.
16. Top the Rolls: Drizzle the cream cheese glaze generously over the warm cinnamon rolls. Serve while still warm for the best experience.