Start by adding the milk, butter, sugar, and yeast to a large bowl. Make sure the milk is at room temperature and that the butter is melted, but they can't be too hot, or the yeast will die and won't rise.

After adding the yeast, let it sit for at least five minutes, without stirring.

Next, add five cups of flour to the bowl and mix it well to form a dough.

Cover the bowl with a towel and let it sit (so that it can rise) for 30 minutes.

Then add another ¼ cup of flour to the dough.

Roll out the dough using a rolling pin.

Spread out the butter on top of the dough, then sprinkle the sugar and cinnamon mixture, and add the chocolate chips.

Roll up the dough. Cut it into pieces (about 1 inch thick).

Transfer the rolls into a pan.

Allow them to sit for another 30 minutes, so they can rise. Then bake them for 25 minutes at 350*F. This recipe made about 18 rolls for me.

While the rolls are cooling, combine the ingredients for the icing and drizzle it over the rolls.