First, start by heating the milk and the butter in the microwave for about 60 seconds or until the butter is fully melted. You want the milk and butter mixture to be warm and not too hot, I would recommend using a cooking thermometer to make sure that the ilk mixture is at around 105F-110F. If the mixture is too hot, let it sit and cool down for a bit. If the mixture is too hot it can kill the yeast so this step is crucial.
Once the milk mixture is at the right temperature, pour it in the stand mixer bowl and sprinkle the yeast on top. Let it bloom for about 5 minutes.
In a separate medium bowl, combine the flour, granulated sugar, brown sugar, pumpkin pie spice ad the salt. Whisk until fully combined and set aside.
Add in the vanilla, egg, and pumpkin puree to the milk mixture and mix using a paddle attachement.
Add in the flour mixture, change the mixer attachement to the hook attachement and knead the dough for 7-10 minutes. The dough should pull away from the sides of the bowl. if the dough looks too wet add in 1 tbsp of flour at a time until the dough still looks slightly wet but pulls out of the sides of the bowl. Remove the dough from the stand mixer bowl, form it into a ball using your hands and place it back in a lightly greased bowl. Cover with a damp towel and let it sit somewhere warm for 30 minutes.
Make the cinnamon roll filling
In a small bowl, mimx the brown sugar and the cinnamon together until well combined.
Let's make some cinnamon rolls!
Once the pumpkin cinnamon roll dough is ready, place it on a floured work surface and roll it using a floured rolling pin. You want to create a large rectangle of about 14.5 x12 inches in size. Use an offset spatula or your hand to spread the softened butter onto the entire surface of the rolled out dough. Sprinkle the dough evenly with the brown sugar mixture, then gently pat it down into the butter.
Starting at the 14.5-inch edge, tightly roll up the dough until you get to the end then gently pinch it to seal the edges if you'd like. a more clean look. Now using a large piece of floss or a sharp knife, slice off a small piece of both edges of the roll ( about 1/4 inch on each end) Cut the remaining dough into 9 even slices.
Place those cinnamon rolls into a buttered 8x8 inch baking pan, cover with plastic wrap and let them rise for 15-20 minutes or until they doubles in size. While the cinnamon rolls are rising, heat up the oven to 350F.
Once the rolls are done rising, pour the heavy cream over them and bake in the oven for 25-30 minutes, or until the rolls are golden brown and cooked through. Once they're baked, let them cook for 5 minutes, spread the homemade frosting on top and serve.
Make the frosting
While the cinnamon rolls are still baking, whisk the cream cheese, butter, maple syrup, powdered sugar, and the vanilla bean paste together in a small bowl. If the frosting seems too thin add 1tbsp at a time of powdered sugar and stir. If it seems too thick add 1 tbsp of milk at a time ad stir.
These cinnamon rolls are best served right out of the oven when they are still warm, but you can store them in an airtight container in the fridge for up to 5 days. Just reheat them in the microwave for 15-20 seconds.