Warm the whole milk and unsalted butter in a small saucepan until melted, then cool to 115-125°F.

Activate the yeast by combining with warm water and a pinch of sugar, allowing it to foam for 5 minutes.

In a large bowl, whisk together flour, sugar, and salt. Add cooled milk mixture and foamy yeast, along with beaten eggs. Mix until combined, adding flour if sticky.

Grease a bowl and let the dough rise covered until doubled in size, roughly 1 hour.

Melt chocolate and butter for the filling over a double boiler. Stir in espresso powder, cinnamon, brown sugar, and honey until smooth. Cool to room temperature.

In a bowl, mix cold butter, sugar, and flour for the streusel topping until crumbly. Set aside.

Roll out dough into an 18x12-inch rectangle. Spread chocolate filling, add cocoa nibs, fold into thirds, twist into strips, and place in a greased muffin tin.

Cover the muffin tin and let muffins rise again for 20-30 minutes.

Preheat oven to 350°F. Bake muffins for about 20 minutes or until golden brown.