In a small bowl, combine warm milk, active dry yeast, and granulated sugar. Stir and let sit for about 5 minutes until frothy.

In a mixing bowl, whisk together pumpkin puree, remaining sugar, egg, and melted butter. Slowly add flour, salt, and activated yeast mixture; stir until sticky dough forms.

Knead the dough on a floured surface for about 8-10 minutes until smooth and elastic.

Place dough in a greased bowl, cover with a towel, and let it rise in a warm place for about 1 hour.

Mix together softened butter, brown sugar, cinnamon, and pumpkin pie spice to create the filling.

Once dough has risen, punch it down and roll it out to a rectangle of about 16x12 inches.

Spread the filling evenly over the rolled dough, leaving a small border.

Roll tightly into a log, seal the seam, and slice into 12 equal pieces.

Transfer to a greased baking dish and let rise again for 30 minutes.

Preheat oven to 350°F (175°C) while rolls are rising.

Bake for 20-25 minutes until golden brown.

Beat together cream cheese and butter, then gradually add powdered sugar, vanilla, and maple syrup for frosting.

Allow rolls to cool slightly before generously frosting them.