In a small bowl, combine warm milk and yeast. Let sit for 5-10 minutes until foamy.

In a large bowl of a stand mixer, whisk together sugar, egg, pumpkin puree, and the yeast mixture.

In a separate bowl, whisk together flour and salt. Add half of the flour mixture to the wet ingredients and mix on low speed until combined.

Add the melted butter and the remaining flour. Mix until a shaggy dough forms.

Knead the dough with the dough hook for 5-7 minutes until smooth and elastic. If the dough is too sticky, add a tablespoon of flour at a time.

Lightly grease a large bowl. Place the dough in the bowl, turning to coat. Cover with plastic wrap and let rise in a warm place for 1-1.5 hours, or until doubled in size.

Punch down the risen dough. Turn it out onto a lightly floured surface and roll into a 12x18 inch rectangle.

Spread the softened butter evenly over the dough, leaving a small border at one end.

In a small bowl, combine brown sugar and cinnamon. Sprinkle evenly over the buttered dough.

Starting from the long side, tightly roll up the dough.

Cut the roll into 12 equal pieces using a sharp knife or dental floss.

Place the cinnamon rolls in a greased 9x13 inch baking pan. Cover with plastic wrap and let rise for another 30-45 minutes.

Preheat oven to 375°F (190°C). Bake for 20-25 minutes, or until golden brown.

In a medium bowl, beat together cream cheese and butter until smooth and creamy.

Add powdered sugar and vanilla extract. Beat until well combined. If the frosting is too thick, add milk, one tablespoon at a time, until desired consistency is reached.

Let the cinnamon rolls cool slightly in the pan. Spread the cream cheese frosting over the warm rolls.

Serve warm and enjoy!