Warm the Milk & Butter: Gently warm milk and butter until melted. Cool slightly if hot, then mix with pumpkin, sugar, nutmeg, salt, egg, and yeast.
Mix the Dough: Gradually add flour and mix until a soft, slightly tacky dough forms. Avoid adding too much flour.
Knead the Dough: Knead for about 5 minutes in a mixer or 5–10 minutes by hand, until smooth and elastic. Use the windowpane test to check the dough.
First Rise: Place dough in a greased bowl, cover, and let rise in a warm spot for about 2 hours, or until doubled in size.
Make the Filling: Mix brown sugar, cinnamon, nutmeg, allspice, ginger, and cloves in a small bowl.
Roll Out the Dough: Gently deflate the dough and roll into a 10 × 14-inch rectangle. If it springs back, cover and rest for 10 minutes before rolling again.
Fill & Shape: Spread softened butter over the dough, sprinkle with the spice mixture, then roll tightly into a log. Cut into 10–12 equal pieces.
Second Rise: Arrange rolls in a greased baking dish, cover, and let rise for about 1 hour, until soft and puffy.
Bake: Bake at 350°F for 22–28 minutes, until lightly golden and cooked through. If browning too quickly, loosely cover with foil. The center should reach about 185–190°F.
Make the Icing: Beat cream cheese until smooth, then mix in maple syrup, milk, powdered sugar, and optional cinnamon. Spread over the warm rolls and serve.
