In a large mixing bowl, stir together the warm milk, active dry yeast, and granulated sugar. Let sit for 5 to 10 minutes until foamy.

Add the pumpkin puree, egg, egg yolk, melted butter, and salt. Mix to combine.

Gradually add the flour until a soft dough forms. Knead by hand or with a stand mixer for 8 to 10 minutes, until smooth and elastic.

Place the dough in a lightly greased bowl, cover, and let rise in a warm place for 1 to 1 1/2 hours, or until doubled in size.

In a small bowl, mix the softened butter, brown sugar, pumpkin puree, cinnamon, pumpkin pie spice, and salt into a spreadable paste.

Punch down the dough and roll it out on a lightly floured surface into a 14 by 18-inch rectangle.

Spread the filling evenly over the dough, leaving a small border around the edges.

Starting from a long side, roll the dough tightly into a log. Slice into 12 even rolls.

Arrange the rolls in a greased 9x13-inch baking dish. Cover and let rise for 30 to 45 minutes, until puffy.

Preheat the oven to 350°F.

Bake the rolls for 22 to 25 minutes, until lightly golden and cooked through.

Let the rolls cool for about 10 minutes.

Beat together the cream cheese, softened butter, powdered sugar, vanilla extract, and enough milk to make a thick, spreadable icing.

Spread the icing over the warm rolls and serve.