In a glass measuring cup, combine warm milk, yeast and 1/2 tsp sugar. Allow yeast to proof for 5-10 minutes.

In the bowl of a stand mixer fitted with dough hook attachment, add flour, remaining sugar, salt, egg and butter. With mixer on low, slowly add yeast mixture. Increase speed as needed, mixing until dough pulls together. Transfer to a lightly greased large bowl. Cover and allow to rise until doubled in size, roughly 1 hour.

Preheat oven to 350°F. In a small bowl, combine cinnamon and chocolate spread.

On a lightly floured surface or silicone counter mat, roll out dough to a 10x16-inch rectangle. Spread chocolate mixture over entire surface. Tightly roll up dough, starting at one of the shorter ends. Cut into 1-inch pieces. Transfer to a 10-inch baking dish. Allow rolls to rise for an additional 15-20 minutes.

Bake for 35 minutes.

In a medium bowl, beat together glaze ingredients until the desired spreadable consistency is reached. Spread or pour glaze over warm rolls. Enjoy immediately. Store remaining rolls in an airtight container.