In a small bowl, combine the milk, half the sugar and yeast. Let rest in a warm spot until foamy and frothy, about 10 minutes. If mixture doesn't foam, toss and start over.

In bowl of electric mixer, combine the yeast mixture, remaining sugar, salt, butter and eggs. Meanwhile, in a large bowl, combine the flour and chocolate. Mix the dough on low, adding the flour and chocolate mixture, half a cup at a time, until the dough is soft and somewhat smooth. You might not have to use all of the flour. Knead on high until smooth and soft, about 5 to 7 minutes. Transfer to a lightly floured work surface and knead a few times by hand. Transfer to a well-oiled bowl, turning over to coat both sides, and cover with plastic wrap and a damp kitchen towel. Let rest in a warm spot until doubled in size, about 1 1/2 hours.

Punch dough down and transfer to a lightly floured work surface. Roll out into a large rectangle about 1/2-inch thick, with a floured rolling pin. Brush the dough with the brown butter, sprinkle liberally with brown sugar, cinnamon, chocolate, pistachios, and a little bit of salt. Roll into a tight log, lengthwise. Trim the ends, cut the dough in half, then each half in half (so you end up with 4 pieces). Then cut each piece into thirds, so you have 12 rolls. Place the rolls in a greased 9 by 13-inch baking pan, giving plenty of space in between. Cover with plastic wrap and a damp kitchen towel. Let rest in a warm spot until doubled in size, about 1 hour.

Meanwhile, preheat oven to 350 degrees F. Bake the rolls until golden brown, about 30 minutes. Remove from oven and allow to cool for about 10 minutes before glazing.

To make the glaze, in a large bowl, combine the brown butter, vanilla and powdered sugar. Then add enough milk to get a spreadable somewhat thin consistency. If it's too thick, add a bit more milk, a little at a time. If it's too thin, add more powdered sugar. Spread on the warm rolls and serve. Leftovers can be stored at room temperature in an airtight container or wrapped well in plastic wrap for up to 2 days. Rewarm before eating. Enjoy!