1. Preheat the oven to 400 degrees. Spray an 8-inch round cake pan with non-stick spray. Cut a round of parchment to fit into the bottom of the pan, place that in the pan and coat again with non-stick spray.
2. In the bowl of your stand mixer, combine water, sugar and yeast and allow to stand for 15 minutes.
3. Add the salt and butter to the stand mixer and mix until combined. Switch to the dough hook and add in the flour a little bit at a time until a soft dough forms. If needed, add more flour by the tablespoon until it pulls away from the mixer and is tacky, but not sticky to the touch.
4. Turn out the dough onto a lightly flour surface. Roll out the dough into a 9x11 rectangle.
5. Combine the cinnamon and sugar fillig and sprinkle down the long side of the dough, leaving a ½ inch border. Follow with the chocolate chips.
6. Carefully and tightly roll up the long end of the dough. Cut into 6 evenly sized rolls. Place the rolls in the prepared cake pan and let rest for 5 minutes.
7. Bake for 15-18 minutes or until the tops are golden brown.
8. Meanwhile, prepare the glaze by combining peanut butter and butter in the bowl of your stand mixer. Beat until smooth and then slowly add in the powdered sugar ¼ cup at a time. In between mixing in the powdered sugar, add in the milk a tablespoon at a time. If the mixture is too thick, continue adding the milk by the tablespoon until it reaches a glaze consistency. If it is too thin, add another ¼ cup of powdered sugar.
9. Pour the peanut butter sauce over the still warm rolls and serve. Once cooled, rolls can be covered and refrigerated for 2 days. Microwave for 30 seconds to reheat.