In a small bowl, combine warm whole milk, active dry yeast, and granulated white sugar. Let it sit for about 10 minutes until frothy.

In a stand mixer, whisk together all-purpose flour, salt, and dark brown sugar thoroughly.

Add the bloomed yeast mixture to the dry ingredients along with eggs and softened unsalted butter. Mix on low speed, then increase to medium and knead for 7-10 minutes until smooth.

Transfer the kneaded dough to a greased bowl, cover with a damp cloth, and let rise for 1-1.5 hours until doubled in size.

Prepare the coffee caramel sauce by mixing unsalted butter, dark brown sugar, honey, heavy cream, vanilla extract, and salt until combined. Spread in a greased baking pan.

Combine softened unsalted butter, dark brown sugar, cinnamon, salt, and vanilla extract in a bowl for the filling. Mix until smooth and spread on rolled-out dough.

Roll the dough tightly into a log and cut into 12 equal rolls. Place swirled side up on the caramel sauce in the prepared pan.

Cover the pan with a towel and let rolls proof for 1 hour until doubled in size. Preheat the oven to 350°F.

Bake the rolls for 29-34 minutes until golden brown. Let cool in the pan for 10 minutes.

Make the frosting by combining unsalted butter, cream cheese, powdered sugar, vanilla extract, and instant espresso powder. Drizzle over the warm rolls.