In a large bowl, dissolve yeast in warm milk and let sit for 5 minutes until foamy.
Add pumpkin puree, granulated sugar, melted butter, eggs, salt, and spices. Mix well.
Gradually add flour and knead until smooth and elastic, about 6–8 minutes.
Place dough in a greased bowl, cover, and let rise until doubled in size, about 1–1.5 hours.
Roll dough into a 12×18 inch rectangle on a floured surface.
Spread softened butter over the dough. Mix brown sugar and cinnamon, then sprinkle over the buttered dough.
Roll tightly from the long edge and cut into 12 equal rolls.
Place rolls in a greased 9×13 baking dish. Cover and let rise for another 30–45 minutes.
Preheat oven to 350°F (175°C). Bake rolls for 20–25 minutes until golden brown.
While baking, prepare frosting by beating cream cheese, powdered sugar, butter, vanilla, and milk until smooth.
Let rolls cool slightly and spread frosting on top before serving.