1-First, Make the Dough: In a large bowl, warm the whole milk and unsalted butter until the butter melts and the mixture is lukewarm. Whisk together the canned pumpkin puree, granulated sugar, ground nutmeg, and salt in the same bowl. Then, stir in the lukewarm milk mixture, the large egg, and the instant or active dry yeast until everything combines smoothly.

2-Add Flour: Gradually add 1 cup of all-purpose flour, followed by the remaining 2 and 2/3 cups, mixing until a shaggy dough forms. This step is where the pumpkin adds its moist, flavorful touch, making the dough feel just right under your hands.

3-Knead and Let It Rise: Turn the dough onto a lightly floured surface and knead for about 5 minutes until it’s soft and slightly tacky. If it sticks too much, add a bit more flour, just 1 teaspoon at a time. Once kneaded, place the dough in a greased bowl, cover it, and let it rise in a warm spot for around 2 hours until it doubles in size.

4-Prepare the Filling: While the dough rises, prepare the filling by mixing the ground cinnamon, nutmeg, allspice, ginger, and cloves with the packed brown sugar. Grease your baking pan to get ready for the next steps.

5-Shape and Bake the Rolls: After the first rise, punch down the dough and roll it into a 10×14-inch rectangle on a floured surface. If it shrinks back, let it rest for 10 minutes. Spread the softened unsalted butter over it, sprinkle on the sugar-spice mix, and roll it up tightly from the long edge.

6-Slice and Second Rise: Slice into 10-12 pieces and place them in the pan for a second rise, about 1 hour until puffy. Bake at 350°F (175°C) for 22-28 minutes, tenting with foil after 15 minutes to avoid over-browning. Let them cool for 10 minutes before adding the icing.

7-Prepare and Add Icing: For the icing, beat the softened cream cheese until smooth, then mix in the pure maple syrup and whole milk. Gradually add the sifted confectioners’ sugar and optional ground cinnamon for a creamy finish. Spread it over the warm rolls and serve right away. The total time is about 3 hours and 25 minutes, with most of it for rising and baking.