Activate Yeast: In the bowl of a stand mixer, whisk warm milk, yeast, and 1 tablespoon of granulated sugar. Let sit for 5 to 7 minutes until frothy and bubbly.

Mix Dough: Whisk in remaining sugar, pumpkin puree, melted butter, egg, and vanilla until smooth. Add flour, pumpkin pie spice, and salt. Using the dough hook attachment, knead on medium-low speed for 7 to 9 minutes until smooth, elastic, and slightly tacky (add 1-2 tbsp extra flour if too sticky).

First Rise: Shape dough into a ball and place in a greased bowl. Cover with a damp kitchen towel and let rise in a warm spot for 60 to 90 minutes until doubled in size.

Roll & Fill: Punch down dough and turn onto a lightly floured surface. Roll into a large 12x18-inch rectangle. Spread softened butter evenly over the surface, leaving a 1/2-inch border. In a small bowl, whisk brown sugar, cinnamon, and nutmeg, then sprinkle generously over the butter, patting down gently.

Slice & Second Rise: Roll dough tightly from the long edge into an 18-inch log. Using unflavored dental floss or a sharp serrated knife, slice into 12 equal rolls. Place in a greased 9x13-inch baking dish. Cover and let rise for 30 to 40 minutes until puffy.

Bake: Preheat oven to 350°F (175°C). Bake rolls for 22 to 26 minutes until golden brown and baked through the centers.

Whip Glaze & Frost: Beat cream cheese, butter, powdered sugar, maple syrup, and vanilla until silky smooth. Spread half the glaze over rolls immediately out of the oven so it melts into the warm crevices. Spread remaining glaze after 10 minutes before serving warm.