In a medium bowl, combine warm milk, sugar, and instant yeast. Let sit for about 10 minutes until frothy.

In a large mixing bowl, combine flour, salt, and softened butter. Add the activated yeast mixture along with the egg or yogurt and mix until a sticky dough forms. Knead for 8-10 minutes until smooth.

Place the dough in a greased bowl and cover with a towel or plastic wrap. Let rise in a warm spot for 60-90 minutes until doubled in size.

In a saucepan, combine butter, cream, instant coffee, and sugar. Heat until melted, then stir in dark chocolate until smooth. Allow to cool slightly.

After the dough has risen, punch it down and roll it out into a rectangle (12x14 inches). Spread the cooled filling evenly over the dough.

Cut the dough into 6 strips and roll each strip into a tight spiral. Place in a greased baking dish.

Cover rolls with a towel and let proof in a warm place for 30-45 minutes until puffy.

Preheat oven to 375°F (190°C). Bake rolls for 20-25 minutes until golden brown.

While baking, whisk icing sugar, coffee, and cream until smooth for icing.

Drizzle icing over warm rolls after baking for a sweet finish.