Step 1: In a large bowl, combine the warm milk, 1 tablespoon of granulated sugar, and active dry yeast. Stir gently and let sit for 5-10 minutes until foamy. This indicates the yeast is active.
Step 2: To the yeast mixture, add the pumpkin puree, melted butter, egg, the remaining granulated sugar, and salt. Whisk until well combined.
Step 3: Gradually add the all-purpose flour, about 1 cup at a time, mixing with a wooden spoon or stand mixer with a dough hook until a soft, shaggy dough forms. It will be slightly sticky.
Step 4: Turn the dough out onto a lightly floured surface and knead for 8-10 minutes until it becomes smooth and elastic. The dough should spring back slowly when gently poked. If using a stand mixer, knead on medium-low speed for 6-8 minutes.
Step 5: Lightly grease a large bowl. Place the dough in the bowl, turning once to coat. Cover the bowl tightly with plastic wrap or a clean kitchen towel. Let the dough rise in a warm place for 1 to 1.5 hours, or until doubled in size.
Step 6: While the dough is rising, prepare the filling. In a medium bowl, combine the softened butter, light brown sugar, ground cinnamon, nutmeg, ginger, and cloves. Mix until a uniform, spreadable paste forms.
Step 7: Once the dough has doubled, gently punch it down to release the air. Turn the dough out onto a lightly floured surface. Using a rolling pin, roll the dough into a large rectangle, approximately 18x12 inches (45x30 cm).
Step 8: Spread the pumpkin cinnamon filling evenly over the entire surface of the dough, leaving a small 1/2-inch border along one of the longer edges.
Step 9: Starting from the long edge opposite the border, tightly roll the dough into a log. Ensure the roll is firm and even. Pinch the seam closed to seal.
Step 10: Using a sharp knife or unflavored dental floss, slice the log into 12 equal pieces, approximately 1.5 inches thick. Arrange the sliced rolls in a lightly greased 9x13 inch baking dish, leaving a small space between each.
Step 11: Cover the baking dish loosely with plastic wrap or a clean kitchen towel. Let the rolls rise in a warm place for another 30-45 minutes, or until they look puffy and have nearly doubled in size.
Step 12: Preheat your oven to 375°F (190°C) during the second rise. Bake the Pumpkin Cinnamon Rolls for 20-28 minutes, or until they are golden brown on top and cooked through. If they brown too quickly, tent loosely with foil.
Step 13: While the rolls are baking, prepare the cream cheese frosting. In a medium bowl, beat the softened cream cheese and softened butter together until smooth and creamy. Gradually add the powdered sugar, mixing until fully incorporated and lump-free.
Step 14: Stir in the vanilla extract and 2 tablespoons of milk (or heavy cream). Add more milk, one tablespoon at a time, until the frosting reaches your desired spreadable consistency.
Step 15: Remove the baked Pumpkin Cinnamon Rolls from the oven and let them cool in the pan for 5-10 minutes. Generously spread the cream cheese frosting over the warm rolls. Serve immediately and enjoy!