In a mixing bowl, dissolve yeast in warm water with sugar, let stand for 5 minutes. Add the egg and melted butter, mix to combine. Add 1 cup of flour and salt. Add remaining flour 1 cup at at time to form a soft dough. Turn onto a floured surface; knead 3-5 minutes. Let dough rest for about 10 minutes, this will let it relax and it will be easier to roll out.
On a lightly floured surface roll dough into a rectangle about 1/4″ thick.
Spread 3 tablespoons of softened butter evenly over dough.
Sprinkle with cinnamon, brown sugar and chocolate chips.
Starting on the long edge, roll up dough, pinching edges to seal. Use a sharp knife, I like to use my bread knife, and slice into 2-inch rolls.
Place into 2 greased pie plates. Cover with a flour sack towel and let rise thirty minutes to one hour.
Preheat oven to 375 degrees.
While the rolls rise, mix cream cheese, peanut butter, milk and powdered sugar together until smooth, set aside.
Bake for 15-17 minutes or until rolls are lightly browned.
Remove from oven and dollop icing over each roll. As the icing starts to melt, smooth around to completely cover tops of rolls. Sprinkle with mini chocolate chips. Cool slightly and serve warm or at room temperature.