Activate yeast: In a large bowl, combine warm milk, yeast, and sugar. Let stand for 5-10 minutes until foamy.

Add wet ingredients: Add egg, melted butter, pumpkin pie spice, cinnamon, and salt to the yeast mixture. Mix well.

Gradually add flour: Gradually add flour, 1 cup at a time, mixing until a soft dough forms. Turn out onto a lightly floured surface and knead for 5-7 minutes until smooth and elastic.

First rise: Place dough in a greased bowl, turning to coat. Cover and let rise in a warm place for 1-1.5 hours, or until doubled in size.

Prepare filling: While dough is rising, combine softened butter, brown sugar, cinnamon, and pumpkin puree in a bowl. Mix well.

Assemble rolls: Punch down dough and roll it out into a 12x18 inch rectangle. Spread filling evenly over the dough. Roll up tightly, starting from the long side. Cut into 12 equal slices.

Second rise: Place rolls in a greased 9x13 inch baking pan. Cover and let rise for 30 minutes.

Bake: Bake in a preheated oven at 375°F (190°C) for 20-25 minutes, or until golden brown.

Make frosting: While rolls are baking, beat together cream cheese and butter until smooth. Gradually add powdered sugar and vanilla extract, beating until light and fluffy. Add milk as needed to reach desired consistency.

Frost and serve: Let rolls cool slightly before frosting generously. Serve warm and enjoy!