In a bowl, combine warmed milk, sugar, and yeast. Let it sit for about 5 to 10 minutes until frothy.

In a separate bowl, whisk together 3 ½ cups of flour, salt, cinnamon, and nutmeg.

In a large mixing bowl, combine melted butter, pumpkin puree, and egg. Once the yeast mixture is bubbly, stir it into this mixture.

Gradually add the dry ingredients to the wet mix, stirring until well combined. If the dough seems sticky, add more flour as needed until you have a smooth, elastic dough.

Knead the dough on a floured surface for about 5 minutes, then place it in a greased bowl, covering it with a towel. Let it rise in a warm place for about an hour or until it doubles in size.

While the dough rises, mix together brown sugar, cinnamon, and softened butter in a bowl until well combined.

After the dough has risen, punch it down and roll it out on a floured surface to about ¼ inch thick into a rectangle.

Spread the filling evenly across the dough and roll it up tightly from the long side.

Cut the roll into 12 equal pieces and place them in a greased baking dish. Let them rise again for about 30 minutes.

Preheat your oven to 350°F (175°C) and bake the rolls for 25-30 minutes or until golden brown.

While the rolls are baking, whisk together powdered sugar, milk, and vanilla extract in a bowl until smooth.

Once the rolls have cooled slightly, drizzle the glaze over the top.