INGREDIENTS
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1/2 Cup whole milk
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1 ¼-oz. envelope active dry yeast
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4 large egg yolks
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1 tsp vanilla extract
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1/2 cup (1 stick) unsalted butter, melted, cooled, plus more
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1/3 cup granulated sugar
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1 tsp kosher salt
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3 cups all-purpose flour, plus more
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Filling
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6 oz bittersweet chocolate, finely chopped
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1/3 cup (packed) light brown sugar
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1 1/2 tsp ground cinnamon
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All-purpose flour (for surface)
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1/4 cup (½ stick) unsalted butter, room temperature
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1 large egg yolk
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Granulated sugar (for sprinkling)