In a small bowl combine warm milk (between 100-110 F), brown sugar, and active dry yeast and let sit 5 minutes or until foamy. If using instant yeast, simply combine all dough ingredients. Just keep the yeast away from direct contact with the salt when combining ingredients (salt slows yeast growth).
In a stand mixer (or large bowl if mixing by hand) combine pumpkin puree, salt, butter, egg, cinnamon, and 4 cups of flour. Pour foamy yeast mixture in and mix with dough hook on low speed for 5-8 minutes until smooth and elastic (if mixing without a mixer, simply mix with a wooden spoon until you can’t mix anymore and then begin kneading by hand 8-10 minutes). Add another ½ to full cup of flour to make dough consistency thick and only slightly sticky. Dough should pull away from sides of bowl and not stick to fingers very much.
Oil a large bowl, place dough in it and cover with plastic wrap. Let rise at room temperature for one hour or until doubled in size.
For the filling:
In a medium bowl combine everything except brown sugar: softened butter, pumpkin puree, vanilla, cinnamon, ginger, nutmeg, and cloves and mix until smooth and creamy. Set aside.
On a floured work surface, roll dough into roughly a 24 inch by 10-12 inch rectangle. I stop occasionally and shape it with my hands to keep a rectangular shape.
Spread filling onto dough to coat entire rectangle, then sprinkle brown sugar evenly over the filling.
Carefully roll dough lengthwise into a long roll. Use a piece of clean string or dental floss and slide the string underneath the roll. Pick up both ends of the string, cross them, and pull tight to cut the dough into 12 equal pieces. Place rolls cut side down into an oiled 9x13 inch pan, being careful not to crowd the rolls so they have room to rise. Cover with a dish towel, and let rise for 45 minutes to one hour until almost doubled in size.
Preheat oven to 350 F. Bake for 25-30 minutes, until light golden brown on top. Using a glass or ceramic needs more bake time, a dark pan needs less. Cool 20 minutes before icing.
For the icing:
In a medium bowl combine cream cheese, butter and mix until most of the lumps are gone. I microwave them for 10-20 seconds to soften them enough to mix. Mix in powdered sugar, vanilla, and milk, one Tablespoon at a time until smooth. I like my icing thicker like frosting. Add 2-3 more tablespoons milk if you prefer a thinner glaze. Generously spoon icing over rolls to coat evenly. Serve warm for maximum deliciousness.
Notes
For best results, use 2% or full fat whole milk in recipe and icing. Overnight Instructions:Follow directions to make dough, fill, roll, and cut dough into rolls and place into pan, and cover with plastic wrap.Do not let rise first or they will deflate in the refrigerator.Place in fridge overnight. Remove and let rise for 30 minutes in warm place before baking.Bake at 350 for 25-30 minutes.Freezer Instructions:Follow directions to make dough, fill, roll, and cut dough into rolls and place into pan so edges are not touching, and cover with plastic wrap. Do not let rise first or they will deflate in the freezer. Once frozen, transfer to freezer bag or container. Freeze until ready to use up to 3 months. Regular thawing method: Remove from freezer, place on baking sheet and thaw in warm place covered for 3-5 hours or until almost doubled in size.Quicker method: Turn ON oven to 200 degrees for 2 minutes then turn OFF. Place rolls in oven and let thaw and rise covered 2-3 hours until almost doubled in size.Bake at 350 for 25-30 minutes.