In a mixing bowl, combine warm milk, yeast, and sugar. Stir gently and let sit for 10 minutes until frothy.

Add all-purpose flour, softened butter, and egg to the mixture. Knead by hand until smooth, about 5-7 minutes.

Transfer the dough to a lightly oiled bowl, cover, and let rise in a warm spot for 60 to 90 minutes.

Prepare the filling by melting butter, cream, sugar, and coffee in a saucepan. Remove from heat and add dark chocolate, stirring until melted.

Once the dough has risen, punch it down, roll it out to a rectangle, and spread the filling evenly. Cut into strips and roll tightly.

Grease a baking pan and arrange the rolls, cover, and let rise for 30 to 45 minutes.

Preheat oven to 375°F (190°C). Drizzle heavy cream over rolls and bake for 20 to 25 minutes until golden.

For the icing, whisk icing sugar, cream, and instant coffee until smooth. Adjust consistency with more cream.

Pour icing over warm rolls and serve.