In a small bowl, combine warm milk and sugar, then sprinkle the yeast over the top. Let it sit for about 10 minutes, until foamy.

In a larger mixing bowl, combine the all-purpose flour, pumpkin puree, melted butter, egg, cinnamon, nutmeg, and salt. Pour the foamy yeast mixture into this bowl. Stir until it forms a dough.

Transfer the dough to a floured surface and knead for about 5-7 minutes until smooth and elastic. Place the dough in a greased bowl, cover with a cloth, and let it rise in a warm place for about one hour, or until it’s doubled in size.

In a separate bowl, combine brown sugar with remaining cinnamon, and set it aside.

After the dough has risen, punch it down and roll it out on a floured surface into a large rectangle (approximately 10×14 inches).

Spread the remaining melted butter over the rolled-out dough, then sprinkle the brown sugar and cinnamon mixture evenly on top.

Starting from one edge, carefully roll the dough into a log. Slice the log into 1-inch rolls and place them in a greased baking dish.

Cover the rolls with a cloth and let them rise again for about 30-40 minutes, or until they puff up.

Preheat your oven to 350°F (175°C). Bake the rolls for about 20-25 minutes, or until they are golden brown.

While the rolls are baking, mix the softened butter, powdered sugar, vanilla extract, and milk until smooth.

Once baked, drizzle the frosting over the warm rolls, allowing it to melt into every swirl.