Whisk the flour, granulated sugar, and salt in a large mixing bowl.
Combine warm milk, melted butter, and pumpkin puree in a separate container.
Mix the wet ingredients into the dry ingredients until a shaggy dough forms.
Knead the dough on a floured surface for eight minutes until elastic and smooth.
Place the dough in a greased bowl and cover for ninety minutes to double in size.
Roll the dough into a large rectangle on a floured work surface.
Spread softened butter evenly across the surface of the rolled dough.
Sprinkle the brown sugar and pumpkin spice mixture over the butter.
Roll the dough tightly into a log, pinching the seam to seal.
Slice the log into twelve even pieces using a sharp serrated knife.
Arrange the rolls in a greased baking dish and let rise for 30 minutes.
Bake at 350F for 25 minutes until golden brown.
Top with cream cheese icing while warm.