Pour warm milk into a small bowl. Add the packet of yeast and ½ cup sugar. Stir gently and wait 5 minutes until foamy.

Whisk together flour, cocoa powder, baking powder, baking soda, and salt in a large bowl.

To the yeast mixture, add melted butter, the egg, vanilla, and red food coloring. Stir to combine.

Pour the wet ingredients into the dry ingredients and mix until a soft dough forms. Turn onto a floured surface.

Knead for 5–7 minutes until smooth and elastic, then form into a ball and place in a lightly greased bowl. Cover and let rise in a warm, draft-free spot until doubled, about 1 hour.

Preheat the oven to 350°F (175°C) and grease a 9×13-inch baking dish.

Punch down the risen dough and roll it out on a floured surface into a rectangle about 12×16 inches.

Spread the softened ½ cup butter evenly over the dough, then sprinkle with ¾ cup brown sugar and 2 tablespoons cinnamon. Press the filling lightly into the dough.

Roll the dough tightly from the long edge into a log and slice into 10–12 even rolls. Place them cut-side up in the prepared dish.

Pour 1 cup heavy cream evenly over the rolls so it soaks into the layers.

Bake for 25–30 minutes until the tops are golden and a skewer inserted near the center comes out mostly clean. Let cool 10–15 minutes before serving.