Prepare the Dough:
In a large mixing bowl, combine warm milk, pumpkin purée, melted butter, sugar, and egg. Stir until smooth. Add instant yeast, flour, salt, and spices. Mix until a soft dough forms.
Knead the Dough:
Transfer to a floured surface and knead for 5–7 minutes until smooth and elastic.
First Rise:
Place dough in a greased bowl, cover, and let rise in a warm spot for about 1 hour or until doubled in size.
Prepare the Filling:
In a small bowl, mix brown sugar and cinnamon. Roll out the dough into a large rectangle and spread softened butter evenly on top. Sprinkle the cinnamon-sugar mixture (and cinnamon apples if using).
Roll and Cut:
Roll up tightly from the long edge to form a log. Slice into 10–12 even rolls and arrange them in a greased baking dish.
Second Rise:
Cover and let rise again for 30–40 minutes until puffy.
Bake:
Preheat oven to 350°F (175°C). Bake for 20–25 minutes or until golden brown.
Make the Glaze:
In a bowl, whisk together cream cheese, powdered sugar, milk, and vanilla until smooth.
Glaze and Serve:
Spread over warm rolls and enjoy that soft, gooey perfection.