Warm the milk to about 110°F in the microwave. Sprinkle the yeast over the milk and let it sit for 10 minutes until frothy.

Meanwhile, sift the flour into a large mixing bowl. Whisk in the salt and sugar. Add the cold butter cubes and use a pastry cutter or your fingers to cut the butter into the flour until it resembles coarse crumbs with pea-sized butter bits.

Pour in the yeast mixture, beaten eggs, and Oreo crumbs. Using a stand mixer with a dough hook, mix on low until a shaggy dough forms, then increase to medium and knead for 5 minutes. The dough will be soft and slightly tacky.

Preheat the oven to 200°F. Grease a large bowl with nonstick spray. Shape the dough into a ball and place it in the bowl, turning to coat. Cover with a clean kitchen towel. Put the bowl in the warm oven, turn the oven off, and prop the door open slightly. Let rise for 1 hour until doubled in size.

In a small bowl, beat together the softened butter, brown sugar, cinnamon, cocoa powder, and salt until smooth and spreadable.

On a lightly floured surface, roll the dough into a 12x18-inch rectangle about 1/4 inch thick. Trim the edges to make a neat rectangle. Spread the filling evenly over the dough, leaving a 1/2-inch border on one long side. Sprinkle the Oreo pieces over the filling.

Starting from the long side, roll the dough tightly into a log. Pinch the seam to seal. Use a serrated knife to slice off the uneven ends, then cut the log into 12 equal rolls.

Grease a 9x13-inch baking pan with nonstick spray. Arrange the rolls cut-side up in the pan, spacing them evenly. Cover with a towel and let rise for 35 minutes in a warm spot.

Preheat the oven to 375°F. Bake the rolls for 19-22 minutes, until lightly golden on top. Let cool in the pan for 5 minutes.

In a medium bowl, beat the cream cheese and softened butter with a hand mixer on high until smooth and fluffy.

Add the sifted powdered sugar and Oreo crumbs, mixing on low until combined. Add the vanilla and beat until the glaze is thick but spreadable.

Spread the glaze over the warm cinnamon rolls. Let them cool slightly so the glaze melts into the swirls. Garnish with extra Oreo pieces or crumbs if desired.