1. In a small bowl, combine warm milk, granulated sugar, and yeast; let stand 5–10 minutes until foamy.

2. In a large bowl, whisk together pumpkin puree, melted butter, and egg.

3. Add flour and salt to the pumpkin mixture, then pour in the yeast mixture. Stir until a dough forms.

4. Knead dough on a floured surface or in a stand mixer until smooth and elastic, about 5–7 minutes.

5. Place dough in a greased bowl, cover, and let rise in a warm place until doubled, about 60–90 minutes.

6. Meanwhile, mix brown sugar, softened butter, and pumpkin pie spice to create the filling.

7. Punch down risen dough and roll into a 12×9-inch rectangle on a floured surface.

8. Spread the spiced filling evenly over the dough.

9. Roll dough tightly from the long side and cut into 12 equal rolls using a knife or floss.

10. Arrange rolls in a greased 9×13-inch pan, cover, and let rise for 30–45 minutes until puffy.

11. Preheat oven to 350°F (175°C) and bake rolls for 22–25 minutes until golden brown.

12. While rolls bake, beat cream cheese, butter, powdered sugar, vanilla, and milk until smooth.

13. Spread frosting over warm rolls and serve immediately.