In a large bowl, combine the milk, melted butter, and yeast. 

Slowly add the flour and brown sugar, stirring as you add. This will help incorporate all of the flour smoothly. You can also do this in the bowl of a stand mixer fitted with the paddle attachment if you’d prefer. 

Once all of the flour has been incorporated, transfer the dough to a lightly floured surface and knead for 2-3 minutes, or until the dough is smooth and elastic. When you press it gently, it should bounce back about 50%.

Transfer the dough to a lightly oiled bowl and place it in a warm spot to rise until doubled in size-- about 90 minutes. 

Once the dough has doubled in size, turn it out on a lightly floured surface again (no need to punch the dough down) and roll it out to a 1/4 inch thick rectangle. 

In a small bowl, combine the filling ingredients - pumpkin puree, softened butter, light brown sugar, and ground cinnamon.

Spread the mixture over the dough, making sure it covers all of the dough evenly. 

Starting with the shortest side, roll the cinnamon rolls tightly into a log. 

Place the log seam side down and slice them into 8 rolls, each about 1.25” thick. 

Grease a 9x13 baking dish with butter non-stick baking spray and place the rolls into the pan, making sure they’re no more than 1” apart. 

Set the rolls aside to rise again until they’ve doubled in size, about 1 hour. 

While the rolls rise, preheat your oven to 375 degrees F. 

Bake the rolls for 18-20 minutes, or until they are golden brown around the edges and fully set in the center. 

Frost and serve!

Store in an airtight container in the fridge for up to two days. 

In a bowl of a mixer add cream cheese and butter.

Using a paddle attachment mix until smooth.

Add in powdered sugar, maple syrup, milk, vanilla exact, maple extract, and kosher salt.

Mix until combined and fluffy.

If the mixture is too thin add more powdered sugar, if
it's too thick thin out with more maple syrup or milk.