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Warm the milk and butter together over the stove or in the microwave. Warm the two together until the butter is *just* melted. You want the mixture lukewarm (105°F (41°C)-115°F (46°C)), not scorching hot. Set aside. Using your stand mixer fitted with a paddle attachment, beat the pumpkin puree, brown sugar, nutmeg, and salt together on medium speed. Add the warmed milk/butter and beat until combined, then beat in the egg and yeast. With the mixer running on low speed, add 1 cup of flour. Mix for 1 minute, scraping down the sides of the bowl frequently. Add 1 and 2/3 cups more flour and beat for 1 more minute. Place dough into a greased bowl (a bit of olive oil or nonstick spray to grease works). Turn the dough around in the bowl so all sides of the dough are coated. *If you do not have a stand-mixer, mix the dough together in a large mixing bowl with a wooden spoon or rubber spatula.*
Cover dough tightly with plastic wrap and allow to rise in a warm, draft-free environment until doubled in size. This will take about 1 – 1.5 hours. Here’s what I do: Rising at room temperature is usually fine, but on a particularly cold day, heat your oven to 150°F (66°C). Turn the oven off, place the dough inside, and keep the door slightly ajar. This will be a warm environment for your dough to rise. After about 30 minutes, close the oven door to trap the air inside with the rising dough. When it’s doubled in size, remove from the oven.)
Gently punch the dough down to deflate it and turn it out onto a lightly floured surface. Knead the dough a few times so it is smooth. If it is too sticky, knead in a little more flour.
Roll the dough out into a 18×10 inch rectangle. Spread the softened butter evenly on top. Combine the brown sugar, cinnamon, and spices into a small bowl. Sprinkle all over the top. Roll it up tightly. Using a very sharp knife, cut into 11-12 pieces, about 1.5 inches each. Arrange rolls into a greased 9-inch or 11×7 inch pan.
Cover with plastic wrap and allow the rolls to rise again in a warm, draft-free environment until doubled in size. This takes about 1 hour (or use my overnight option, detailed below).
Preheat oven to 350°F (177°C).
Bake the rolls for 22-28 minutes, covering with aluminum foil at the 15 minute mark to prevent heavy browning. Remove from oven and allow to slightly cool as you prepare the icing.
Using a handheld or stand mixer fitted with a paddle or whisk attachment, beat the softened cream cheese in a medium bowl on medium speed until smooth. Add the maple syrup and milk and beat on high until smooth. Add the confectioners’ sugar and beat on medium speed until creamy. Drizzle over warm cinnamon rolls. Rolls taste best served on the same day, though they remain fresh for one day covered tightly at room temperature. Unglazed rolls freeze well up to 2 months.