Prepare the yeast mixture by combining warm milk, active dry yeast, and granulated sugar; let sit for 5 minutes until frothy.

Mix the wet ingredients: whisk together pumpkin puree, granulated sugar, egg, and melted butter until smooth.

Combine dry ingredients: add flour, salt, cinnamon, and nutmeg to the wet mixture; stir until a shaggy dough forms.

Knead the dough on a floured surface for 8-10 minutes until smooth and elastic.

Let the dough rise in a greased bowl covered with a towel for about 1 hour or until doubled in size.

Prepare the filling by creaming together softened butter, brown sugar, ground cinnamon, and pumpkin pie spice until smooth.

Roll out the risen dough into a rectangle approximately 16x12 inches.

Spread the filling evenly over the rolled dough, leaving 1 inch from the edges.

Roll the dough tightly, slice into 12 pieces, and place in a greased baking dish.

Let the cinnamon rolls rise for another 30 minutes covered with a towel.

Bake the rolls in a preheated oven at 350°F for 20-25 minutes until golden brown.

While baking, prepare the frosting by mixing softened cream cheese, butter, vanilla, maple syrup, and powdered sugar until smooth.

Frost the warm rolls with maple cream cheese frosting and serve.