In a large bowl, dissolve the packet of active dry yeast in the warm milk. Add 1 teaspoon of granulated sugar to help feed the yeast. Let this mixture sit for 5 to 10 minutes until it becomes foamy.

Whisk in the remaining sugar, pumpkin puree, melted butter, egg, and salt to the yeast mixture.

Gradually add 3 1/2 cups of the flour, stirring until a soft dough begins to form. If the dough is too sticky, sprinkle in the remaining flour a little at a time.

Turn the dough onto a floured surface and knead it for 5 to 6 minutes until smooth and elastic.

Place the kneaded dough in a greased bowl, cover it, and let it rise in a warm spot for about 1 hour until doubled in size.

Punch down the dough and roll it out into a 12×18 inch rectangle on a floured surface.

Spread the softened butter evenly over the dough. Mix the brown sugar and cinnamon, and sprinkle over the buttered dough.

Roll the dough tightly from the long edge into a log, cut into 12 equal rolls, and place them in a greased 9×13 inch baking dish.

Cover and let them rise for 30 minutes. Preheat the oven to 350°F during the last 10 minutes.

Bake the rolls for 22 to 25 minutes until golden brown.

While they bake, beat the cream cheese, powdered sugar, and milk until smooth for the icing.

Spread the icing over the rolls while still warm and serve immediately.