In a large mixing bowl, combine warm milk, sugar, melted butter, pumpkin purée, egg, and yeast. Mix until blended.
- Gradually add flour, pumpkin pie spice, and salt until a soft dough forms.
- Knead dough for 8–10 minutes by hand or 5 minutes in a mixer until smooth. Place in a greased bowl, cover, and let rise for 1 hour or until doubled.
- Mix brown sugar with cinnamon, cardamom, ginger, and cloves in a small bowl.
- Roll dough into a large rectangle (1/4 inch thick). Spread softened butter, then sprinkle evenly with spice-sugar mixture.
- Roll dough tightly from the long side, then slice into 12 rolls.
- Place rolls in a greased 9×13-inch dish. Cover and let rise 30–45 minutes.
- Preheat oven to 350°F (175°C). Bake 25–30 minutes until golden.
- For glaze, whisk cream cheese, powdered sugar, vanilla, salt, and milk until smooth.
- Spread glaze over warm rolls and serve.