Warm milk in the microwave for 30-45 seconds, to just about 110F. Transfer warm milk to a large bowl or in the large bowl of a stand mixer fitted with the dough hook. Add the pumpkin puree, egg, melted butter, sugar, and yeast. Mix until combined.
Next, Add the flour, pumpkin spice, and salt. Place dough hook attachment on mixer and knead dough on low-medium speed for 6-8 minutes or until slightly sticky. This can also be done by hand by kneading the dough on a well floured surface and knead until smooth and elastic. Cover the dough and allow to rise for about 45 minutes or until doubled in size.
To Make the Filling: Combine all the ingredients for the filling in a small bowl and stir until combined.
After the dough has risen, transfer the dough to a well-floured surface and roll out into a 12×15″ rectangle. Spread the filling mixture onto the dough, leaving about 1/4 inch border around the edges.
Tightly roll dough up the dough, starting from the 12 inch side (the smaller side) and seal the edges. Cut the dough into 4 equal segments then cut each segment into 3 rolls, about 1 inch each. You should end up with about 12 equal slices. Place the rolls in a buttered or greased 9×13 dish. Cover with a towel to rise for 1 hour. (optional) For extra gooey cinnamon rolls, pour ½ cup of heavy creamy onto cinnamon rolls right before baking.
Preheat oven to 350 degrees F. Bake the cinnamon rolls for 20-25 minutes or until just slightly golden brown on the edges. Cool for at least 10 minutes before frosting.
To make the frosting: While the rolls are cooling, in the bowl of an electric mixer, combine the cream cheese, butter, powdered sugar, maple syrup, and vanilla extract. Beat until smooth and fluffy. Spread onto the warm rolls and enjoy!
Notes
Pro Tip: for extra gooey cinnamon rolls, pour ½ cup warm heavy cream on top cinnamon rolls just before baking. The heavy cream will turn into a gooey caramel while baking!