Combine the yeast and water in a bowl, whisk to combine, and let sit for 10 minutes until it’s foamy on top. (Make sure the water is not too hot or it will kill the yeast.)

In a large bowl, whisk together all the dry ingredients for the dough. When the yeast is ready, add that along with the milk and butter to the dry ingredients and stir until a dough forms. Cover the bowl with a kitchen towel and let it rise for 45 minutes to an hour.

Preheat the oven to 350°F. Spray a baking dish with gluten-free nonstick cooking spray.

Roll out the dough on a cutting board dusted with cassava flour into a rectangle (about 9x24 inches).

Make the filling by melting the chocolate chips and ¼ cup butter in the microwave for 30 seconds, stir, and heat an additional 10 seconds at a time, if needed. Pour the melted chocolate mixture into a bowl with the sugar, cacao powder, salt, and 2 tablespoons butter

Spread the filling over the dough, edge to edge, using your fingers. This may take a couple of minutes (it will slightly melt as you spread it with your hands to make it spread easier). Sprinkle the chopped peanuts over the top of the filling.

Starting with the short edge closest to you, carefully roll the dough into a log, keeping it fairly tight as you go, but being careful, as gluten-free dough isn’t quite as rollable. The log will be fairly thick. Cut the log into 1- to 1½-inch pieces and place into the baking dish, swirls facing up.

Brush the rolls with additional butter, if desired, then bake for 20-25 minutes. Do not over-bake. (It's hard to tell when gluten-free dough is done because it doesn't turn that nice golden hue, so check them often.)

While the rolls are cooling slightly, make the peanut butter caramel icing. In a stand mixer or using a hand mixer, beat the peanut butter on low and add the milk, maple syrup, and vanilla. Slowly add the powdered sugar until well combined. Frost the rolls and serve.

Store leftover rolls and icing on the counter and eat within a day or two.