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In a large mixing bowl, combine the all-purpose flour, sugar, yeast, and salt.
Add the warm milk, melted butter, egg, cocoa powder, vanilla extract, and red food coloring. Stir until a dough begins to form.
Knead the dough on a floured surface for about 5-7 minutes until smooth and elastic. Place the dough in a greased bowl, cover with a clean towel, and let rise in a warm area for about 1-1.5 hours, or until doubled in size.
In a small bowl, mix together the softened butter, brown sugar, cinnamon, and granulated sugar until well combined.
Once the dough has risen, roll it out on a floured surface into a large rectangle (about 12x18 inches). Spread the cinnamon filling evenly over the dough.
Starting from the long side, roll the dough tightly into a log. Cut the log into 12 equal slices and place them in a greased 9x13-inch baking dish.
Cover the rolls with a towel and let them rise again for about 30 minutes.
Preheat the oven to 350°F (175°C). Bake the rolls for 20-25 minutes, or until golden brown.
While the rolls are baking, beat together the cream cheese, butter, powdered sugar, vanilla extract, and milk (if using) until smooth and creamy.
Remove the rolls from the oven and let them cool for about 10 minutes. Spread the cream cheese icing generously over the warm rolls before serving.