Make the dough: In a medium bowl, whisk together the warm milk (make sure it’s under 110°F), brown sugar, granulated sugar, and yeast. Let the mixture sit for 2-3 minutes to activate the yeast.

In the bowl of a stand mixer, add the pumpkin puree, egg, and the yeast mixture. Mix on low until smooth, scraping down the sides of the bowl as needed.

Add the flour, pumpkin pie spice, and salt. Switch to the dough hook and knead on low speed for 2-4 minutes, or until everything is incorporated.

Add the softened butter a little at a time and continue mixing for about 10 minutes, until the dough is soft and elastic.

Cover the bowl and let the dough rise in a warm spot until it has doubled in size, about 1 hour (timing will vary depending on your kitchen).

Make the filling: In a medium bowl, stir together the brown sugar, cinnamon, and pumpkin pie spice. In a separate bowl, melt the butter and set aside.

Once the dough has risen, punch it down and transfer to a lightly floured surface. Roll it out into a rectangle about 18x24 inches.

Brush the entire surface of the dough with the melted butter.

Evenly sprinkle the cinnamon sugar mixture over the dough, leaving a 1-inch strip along one of the long edges uncovered to help seal the roll.

Starting with the opposite long side, roll the dough tightly into a log. Place it seam-side down and pinch to seal.

Using a serrated knife, slice the log into 1 to 1½-inch thick rolls.

Grease an 8x10-inch (or similar size) baking dish with nonstick spray.

Arrange the rolls cut-side up in the pan. Let them rise again until puffy and filling the dish, about 30-40 minutes.

Preheat the oven to 350°F.

Bake the rolls for 30-40 minutes, or until the centers are set and the edges are golden brown. Allow to cool slightly before frosting.

Make the frosting: In the bowl of a stand mixer, beat together the softened cream cheese, softened butter, brown sugar, salt, vanilla, and heavy cream on low until smooth. Scrape down the sides, then increase the speed to medium and whip until light and fluffy.

Spread the frosting generously over the warm cinnamon rolls.

Serve right away and enjoy!