Activate the Yeast: In a large bowl or the bowl of a stand mixer, warm the milk to about 110°F. Stir in the granulated sugar and sprinkle the yeast over top. Let sit for 5-10 minutes until foamy.

Mix the Dough: To the yeast mixture, add the melted butter, pumpkin puree, and egg. Whisk until combined. Add 3 cups of flour and the salt. Mix on low speed until just combined. Gradually add remaining flour until the dough pulls away from the sides of the bowl.

Knead the Dough: Knead on a lightly floured surface for 6-8 minutes (or 5-7 minutes with a dough hook) until smooth and elastic.

First Rise: Place the dough in a lightly oiled bowl, cover, and let rise in a warm place for 1.5 - 2 hours, or until doubled in size.

Prepare Filling and Assemble: Mix all filling ingredients together. Punch down the risen dough and roll it into a 12x18 inch rectangle. Spread the filling evenly over the dough.

Roll and Cut: Tightly roll the dough into a log and pinch the seam to seal. Cut into 12 equal rolls using a serrated knife or dental floss. Place in a greased 9x13 inch baking pan.

Second Rise: Cover the pan and let the rolls rise in a warm place for 30-45 minutes until puffy.

Bake: Preheat oven to 375°F (190°C). Bake for 20-25 minutes until golden brown.

Make the Frosting: While rolls bake, beat the cream cheese and butter until smooth. Gradually beat in powdered sugar, then add vanilla and milk. Beat until light and fluffy.

Frost and Serve: Let the rolls cool for 10-15 minutes, then spread frosting over them. Serve warm.