Warm milk slightly in the microwave until it is the temperature of warm bath water. Place the warm milk and sugar in the bowl of an electric mixer and sprinkle yeast on top. Stir pumpkin puree, room temperature egg, and melted butter, mixing until smooth and well combined and creamy.
Stir in bread flour and salt until dough forms. Kneed the dough with your hands and add more flour if needed until a smooth, elastic ball forms.
Transfer the dough ball to a large, greased bowl, then cover with a warm towel. Allow dough to rise until doubled in size, about an hour.
Once the dough has doubled, transfer it to a well-floured surface and roll it out into a 14×16-inch rectangle. Spread softened butter over the dough evenly.
In a small bowl, mix together brown sugar and cinnamon. Sprinkle the mixture over the buttered dough.
Roll the dough tightly, beginning from the shorter side, and position it with the seam facing downward, ensuring a secure seal along the edges. Next, slice it into 1-inch segments using a piece of string, pulling it taut in a loop for a clean cut. This process should yield 12 rolls. To maintain uniform roll sizes, you may opt to score the dough with a knife before cutting.
Place the cinnamon rolls in a 9×13-inch baking pan that’s been lined with parchment paper to catch any potential filling overflow. Cover them with a warm towel and allow the rolls to undergo a second rise for approximately 30 minutes, all the while preheating your oven to 350 degrees.
Bake the cinnamon rolls for 25-30 minutes, or until the edges are golden brown. It’s best to slightly under-bake them to maintain a soft center, hence the preference for just a slight golden brown appearance. Let them cool for 10 minutes before applying the frosting.
For the frosting: Take a medium bowl and use an electric beater to blend cream cheese, butter, powdered sugar, maple syrup, and a pinch of salt until the mixture is smooth. Spread over the pumpkin cinnamon rolls and serve! Sprinkle a dash of cinnamon for garnish and savor them while they’re still warm!