Dissolve yeast in the warm milk and sugar in a small bowl.
Add butter, salt, eggs, flour and cocoa powder to the bowl of a mixer with dough hook and mix well. Pour the milk/yeast mixture in the bowl and mix well until thoroughly incorporated and elastic.Place dough into an oiled bowl, cover and let rise in a warm place for 1 hour it should be doubled in size.
Preheat oven to 350°F. Grease a 9x13” baking pan. Roll the dough out on a lightly floured surface into a rectangle of 16 inches long by 12 inches wide.
In a small bowl mix the peanut butter, brown sugar and butter. Spread the peanut butter mixture evenly over the surface of the dough. Working carefully from the long edge, roll the dough to the other edge. Using dental floss or a serrated knife, cut the roll into 12 slices.
Place the cut rolls in greased pan. Cover them with a damp towel and allow to rise for another 30 minutes, or when doubled in size.
Bake for 22 minutes or until light golden brown. While the rolls are baking make the icing by mixing all ingredients and beat well with an electric mixer until fluffy. When the rolls are done and cooled slightly, spread the chocolate glaze evenly over the rolls and sprinkle sea salt flakes on top.
I pop the peanut butter in the microwave for 20 seconds to melt it a little. Makes it easier to stir.
If it's too thick to spread, add a little milk to thin it out.