For the dough

1. In a large bowl or the bowl of your stand mixer add the milk, butter, sugar, and yeast. Stir to combine and let the mixture sit for 1 minute. Add the pumpkin and the egg and mix until well combined. Add the salt, baking powder, baking soda, and 2 cups of flour. Mix well for 3 minutes. Add the additional flour, 1/2 cup at a time, mixing well between each addition until the dough starts to pull away from the sides of the bowl. Turn the dough out onto a well floured surface and kneed until smooth and elastic, and not sticky, adding flour as needed. Return the dough to the bowl, cover the bowl, and let it rest for 15 minutes.
2. While the dough is resting mix together the melted butter, sugars, and spices for the filling.
3. When the dough has finished resting roll it out into a large rectangle, about 16 inches by 24 inches. Spread the filling all over dough. Roll the dough, jelly roll style, starting on the side that is shorter than the other, until you have rolled it all the way up. Cut the dough into 12 rolls (about 1 1/2 inches wide) and place the cut rolls in a well buttered baking dish. Cover the dish and let the rolls rest for 15 minutes.
4. While the rolls are resting, preheat the oven to 375 degrees. After the rolls are done resting baking them in the hot oven until golden brown, around 15-20 minutes (mine were perfect at 18 minutes). Remove from the oven. While they are baking make the icing.
5. To make the icing stir together the powdered sugar, salt, and pumpkin pie spice. Add the melted butter, 1 tablespoon of cream, and the vanilla. Whisk until smooth. Add an additional tablespoon of cream if needed, depending on the consistency you like. Spread the icing all over the rolls and enjoy them warm.