Add milk and butter into microwave safe bowl. Heat in microwave until butter is just melted, around 30-60 seconds. Set aside.
In the bowl of a stand mixer, or a large bowl, combine pumpkin puree, brown sugar, salt, and cinnamon, and mix until combined. Add eggs and instant yeast and mix again. Add warm milk + butter and mix again.
Slowly add in the flour while the mixer is on low. Let the dough mix for about 5 minutes, until dough is soft. If the dough is too sticky, add a tablespoon of flour at a time until it is not as sticky.
Pour dough into a greased bowl and cover with plastic wrap. Place dough in the fridge overnight.
The next morning, grab the dough out of the fridge. Lightly flour a surface and turn the dough out. Roll the dough into a 12x18 inch rectangle.
Melt the butter for the filling and brush onto the dough. Add the brown sugar on the dough and evenly spread it with your fingers. Evenly shake on the pumpkin pie spice. Starting on the long edge, roll the dough up and seal the edge by pinching it together.
Using a sharp knife, cut 2 inch long slices of dough. Add the freshly cut rolls to a greased 9x13 inch pan. Cover the pan with a light weight towel and let rise for 30 minutes.
While the cinnamon rolls are rising, preheat the oven to 350. Once they have risen, put them in the oven to bake for 20-25 minutes, until they are golden brown.
While they are baking, make the icing. Add butter and cream cheese to a bowl. Mix for about 3 minutes, until the mixture is light and fluffy. Add powdered sugar and mix for another 3 minutes. Add vanilla and maple syrup and mix for 1 minute. If you like your icing more runny, add 1-2 tbsp of milk until your desired consistency is reached!
When the rolls are done baking, Add icing while they are warm and serve immediately. Enjoy!
