In a mixing bowl, combine warm milk and yeast. Let it sit for 5 minutes until frothy.

Add melted butter, sugar, egg, vanilla extract, cocoa powder, and pink food coloring. Mix well.

Gradually add flour and knead until a smooth dough forms. Cover and let rise for 1 hour.

In a small bowl, mix brown sugar and cinnamon together.

Roll out the dough on a floured surface into a rectangle. Spread softened butter over the dough and sprinkle with the cinnamon mixture.

Roll the dough tightly into a log and cut into 8 equal pieces. Place in a greased baking sheet.

Cover and let rise for another 30 minutes. Preheat the oven to 350°F (175°C).

Bake for 20-25 minutes until golden brown. Let cool slightly.

In a bowl, beat together cream cheese, butter, powdered sugar, and vanilla extract until smooth.

Spread frosting over the warm cinnamon rolls before serving.