In a medium saucepan, combine sugar, salt, and cornstarch. Gradually whisk in 1 cup of heavy whipping cream, 1 cup of whole milk, and 5 large egg yolks until smooth.

Place the saucepan over medium heat, whisk constantly for about 5 to 7 minutes until the custard thickens and begins to bubble.

Remove from heat and strain the custard through a fine-mesh strainer into a clean bowl. Add 4 tablespoons of unsalted butter, whisking until melted.

Stir in 1 teaspoon of vanilla extract. Cover directly with plastic wrap and refrigerate for 3 to 4 hours.

Cut a deep hole into the side of each sweet Hawaiian roll to create a pocket for filling.

Fill a piping bag with the chilled custard and pipe it into each roll until it slightly peeks out.

In a microwave-safe bowl, combine 1 cup of semi-sweet chocolate chips and ¼ cup of heavy whipping cream. Heat until melted and smooth.

Dip the tops of each filled roll into the chocolate glaze and place on a wire rack to set.

Allow to set at room temperature for 15 to 30 minutes before serving.