In a large bowl (or the bowl of your electric mixer fitted with the kneading hook), combine warm milk, melted butter, sugar, and yeast. Let sit for about 5 minutes until it begins to flower (foam).

Once yeast is foamy, stir in pumpkin puree and egg.

In a separate bowl, combine the remaining dry ingredients.

Gradually stir in dry mixture to the yeast mixture.

Using your mixer's dough hook attachment or manually, knead dough until it forms a ball and no longer sticks to the sides of the bowl.

Remove dough from bowl and coat with a bit of oil. Place dough back into the bowl and cover with a clean dish towel. Allow dough to rise for 15 minutes.

Once the dough has risen slightly, roll out into a large rectangle on a lightly floured surface.

Brush dough with melted butter and sprinkle with brown sugar, pumpkin pie spice, and cinnamon.

Roll dough and pinch the seam shut. Slice into rolls.

Place sliced rolls in a greased 9x13 baking pan and let sit while oven is preheating.

Preheat oven to 375 degrees.

When oven is ready, place pan in the center of the oven and bake for 17-20 minutes.

To make the frosting, melt butter in a small pan. If you would like a more nutty flavor, carefully cook the butter until it begins to brown and smell nutty.

Remove pan from heat and whisk in milk, vanilla, and powdered sugar.

Remove rolls from oven and allow to rest for 5 minutes before glazing them with frosting.