Heat milk and butter in a small saucepan over low heat or in the microwave on 50% power until butter is just melted. Pour into a large mixing bowl or the bowl of a stand mixer and let cool to lukewarm (95 to 105 degrees F). Whisk in yeast, sugar, eggs, salt, and milk powder.

Add flour, 1 cup at a time, mixing with the paddle attachment until incorporated. Switch to the dough hook and knead for 3 to 5 minutes or until smooth and elastic. The dough should pull away from the sides of the bowl but still stick to the bottom. If your dough is seriously too sticky, you can add a few more tablespoons of flour as needed.

Turn dough out on a lightly floured surface and knead for 5 to 7 minutes or until smooth and elastic. Form into a ball and place in a lightly oiled bowl. Cover and set in a warm spot to rise until doubled in size, 1 to 2 hours.

Punch down dough. At this point the dough can also be tightly covered and refrigerated overnight; let sit at room temperature for 30 minutes before rolling.

To prepare filling, melt peanut butter and butter in the microwave until butter is melted and peanut butter is thin and smooth. In a separate bowl, whisk together brown sugar and cinnamon until evenly incorporated.

Divide dough into two equal pieces. Working on a lightly floured surface, roll out one piece into a rectangle approximately 18 by 8 inches in size and ¼-inch thick, with the long edge facing you.

Spread half of peanut butter mixture evenly over dough, leaving about an inch along the top edge naked. Sprinkle half of cinnamon sugar mixture evenly over top of peanut butter, then scatter half of mini chocolate chips over top.

Starting with the long edge closest to you, roll up the dough. Pinch along the outside edge to seal. With a sharp serrated knife, cut into twelve even 1 ½-inch thick slices.

Arrange slices in a foil-lined baking pan that has been sprayed lightly with cooking spray, in 3 rows of 4, leaving a little space between each roll.

Repeat with second half of dough. You should end up with 24 rolls.

At this point the cut rolls can be covered and refrigerated overnight; take out of the fridge 1-2 hours before you plan to bake them in the morning and let them rise until doubled in size.

Preheat oven to 350 degrees F. Brush tops of rolls with melted butter.

Bake for 20 to 25 minutes or until tops are just barely golden brown. Remove from oven and let cool while you prepare the glaze.

For the glaze, in a small saucepan set over low heat or a microwave safe bowl, melt chocolate along with butter, cream, and corn syrup until just melted and smooth. Add vanilla and salt and stir until smooth.

Spread or drizzle glaze over warm rolls and serve immediately.