Preheat oven to 375˚F. Lightly grease an 8-inch cake pan with non-stick spray; set aside.
Separate the dough into 8 rolls and unroll. Brush each piece of dough with the melted butter.
In a small bowl, mix together the cinnamon and sugar. Evenly divide and sprinkle a generous amount of cinnamon-sugar over each roll.
Evenly divide the chopped chocolate and add it over the cinnamon-sugar.
Carefully roll up each piece of dough, pinching seams together.
Arrange the rolls 1 inch apart in the prepared cake pan and bake for 15 to 17 minutes, or until the tops are golden brown.
Meanwhile, combine the milk, vanilla, and powdered sugar in a small saucepan and cook over medium heat, whisking constantly just until combined and no lumps appear. Remove from heat.
Remove the cinnamon rolls from the oven and immediately brush the rolls with the prepared glaze.