Here is one of the figures whose commutativity express the fact that $\Delta$ is a morphism of algebra:
$\require{AMScd}$ $$\begin{CD}H\otimes H @>\Delta\otimes\Delta>> (H\otimes H)\otimes (H\otimes H)\\ @V \mu V V @VV (\mu\otimes\mu)({\rm id}\otimes \tau\otimes{\rm id}) V\\ H @>>\Delta > H\otimes H. \end{CD}$$
(Source: Christian Kassel, Quantum Groups, p.45.)
But I do not quite sure understand the following notation, what is the meaning of $(\mu \otimes \mu) ({\rm id} \otimes \tau \otimes {\rm id}) $? how should I apply it? Could someone explain this to me, please?