Prepare the yeast mixture by combining warm milk, warm water, and granulated sugar. Sprinkle yeast on top and let sit for 5-10 minutes until foamy.

Make the dough by whisking together flour, salt, and cocoa powder in a bowl. Add yeast mixture, eggs, butter, food coloring, and vanilla extract. Mix until dough forms.

Knead the dough on a floured surface for 6-8 minutes until smooth and elastic. Place in a greased bowl, cover, and let rise for about 1 hour or until doubled.

Prepare the cinnamon filling by mixing softened butter, brown sugar, cinnamon, and salt until smooth in a medium bowl.

Roll out the risen dough into a rectangle (12x18 inches) and spread the cinnamon filling evenly over the surface.

Shape the rolls by rolling the dough tightly from one long edge. Slice into 12 equal pieces and place in a greased baking dish. Let rest for 30 minutes.

Preheat oven to 350°F (175°C). Bake rolls for 20-25 minutes until golden brown. Cool for 5 minutes in the pan.

Make the cream cheese frosting by beating cream cheese, butter, powdered sugar, vanilla, and salt until smooth. Frost warm rolls generously.