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Preheat oven to 375°F. Lightly grease two 8-inch cake pans with non-stick spray; set aside.
Separate dough and unroll. You should have 16 pieces. Brush each piece of dough with melted butter.
In a small bowl, mix together pumpkin puree, milk, brown sugar, cinnamon and nutmeg.
Evenly divide pumpkin filling and spread over each piece of rolled-out dough. Carefully roll up each piece of dough, lightly pinching the seams together. Arrange the rolls 1 inch apart in the prepared cake pans.
Bake for 16 to 18 minutes, or until tops are golden brown.
Place cream cheese in your mixer's bowl and cream for 1 minute, or until creamed. Gradually add in powdered sugar and continue to beat until creamy and smooth. Mix in pumpkin pie spice. Add vanilla and mix until thoroughly combined.
Remove pans from oven and immediately brush each roll with frosting. Serve and enjoy!