01 -
Stir the warm milk, yeast, and 1 teaspoon of the brown sugar together in the bowl of a stand mixer. Let stand for 5-10 minutes, until foamy.
02 -
Add the remaining brown sugar, pumpkin puree, egg, melted butter, flour, pumpkin pie spice, and salt. Mix with the dough hook on low until a shaggy dough forms.
03 -
Knead on medium-low for 6-8 minutes, adding flour 1 tablespoon at a time only if the dough is very wet. Transfer to a greased bowl, cover, and let rise in a warm spot for 1 to 1 1/2 hours, until doubled.
04 -
Stir the brown sugar, cinnamon, pumpkin pie spice, and salt together in a small bowl. Butter a 9x13-inch baking pan.
05 -
Roll the dough on a lightly floured surface into a 15x10-inch rectangle. Spread the softened butter over the dough, sprinkle evenly with the cinnamon sugar, then roll tightly from the long side. Cut into 12 rolls.
06 -
Arrange the rolls in the prepared pan. Cover and let rise for 35-50 minutes, until puffy and nearly touching.
07 -
Heat the oven to 350°F. Bake the rolls for 22-26 minutes, until lightly golden on top and set in the center. Cool for 8-10 minutes.
08 -
Beat the cream cheese, butter, powdered sugar, maple syrup, vanilla, salt, and enough milk to make a spreadable frosting. Spread over the warm rolls and serve.