Place dough ingredients in the pan of the bread machine in the order recommended by the manufacturer. Select dough cycle; press Start.
After the dough cycle is done, turn it out onto a lightly floured surface, cover and let rest for 10 minutes - this is an important step, don't skip!
Combine the pumpkin, brown sugar and pumpkin pie spice. Set aside.
Roll dough into a 16x21-inch rectangle.
Brush the dough with melted butter, and spread the pumpkin mixture evenly over the dough. Leave a gap for sealing the long edge.
Roll up dough, seal, and cut into 12 rolls. I use (plain, unflavoured) dental floss to do this.
Place a piece of dental floss under the rolled dough, 1 inch from the end. Bring the floss up around the dough and cross it over the top, cutting through the dough and filling. Repeat at 1-inch intervals.
Place rolls in 2 lightly greased deep dish pie pans (or use a 9x13 pan). Cover and let rise until nearly doubled, about 30 minutes.
Preheat oven to 400 degrees F
Bake rolls in preheated oven until golden brown, about 15 minutes.
While rolls are baking, beat together cream cheese, butter, confectioners' sugar, vanilla, salt, pumpkin pie spice. Add milk to achieve consistency desired.
Spread frosting on warm rolls before serving.
Stand Mixer/Dough Hook instructions:
Combine milk and sugar in a bowl, and put in microwave until the temp is reached (it's supposed to be lukewarm, not hot).
Sprinkle yeast over the surface, and let it sit for 5-10 minutes until foamy.
(Tiny bubbles should begin to appear on the surface or around the edge of the container and it should start to smell yeasty).
Add the yeast mixture to the bowl of your stand mixer with the dough hook attached.
Add the flour, salt, eggs and butter and knead for 8-10 minutes. It should form a ball, and be relatively smooth.
Let sit in a warm place, until doubled in size (about an hour?). Punch down - follow from Step 2 above)