Whisk the warm milk, yeast, and 1 tablespoon of the sugar together in a large bowl. Let it sit for about 5 minutes until it looks foamy.

Add the pumpkin puree, remaining sugar, eggs, melted butter, and flour to the yeast mixture. Knead by hand for 8 minutes or in a stand mixer for 6 minutes until the dough is smooth and elastic.

Place the dough in a covered, greased bowl and let it rise for 1 hour or until doubled in size.

Punch down the risen dough and roll it out on a floured surface into a 16x12 inch rectangle.

Mix the brown sugar, cinnamon, and pumpkin pie spice, and sprinkle evenly over the dough, leaving a small border around the edges.

Roll the dough tightly from one long edge into a log, then slice into 12 even rolls using unflavored dental floss or a sharp knife.

Place the rolls in a greased 9x13 inch baking dish and cover them, letting them rise for 30 minutes until puffy.

Preheat the oven to 350°F and bake the rolls for 22 to 25 minutes, until golden brown and cooked through.

While baking, beat together cream cheese, powdered sugar, and milk until smooth and pourable. Drizzle over warm rolls before serving.