Proof yeast: In a large bowl or stand mixer add warmed milk, yeast, and a pinch of the sugar. Stir to combine then let mixture sit for a few minutes, until yeast has proofed and is foamy.
Make dough: Add the remaining sugar, melted butter, pumpkin and egg then mix until well combined. Add salt, baking powder, baking soda, and 2 cups of flour. Mix well.
Knead: Add 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. Mix for several minutes until the dough is smooth and elastic. It should be soft and slightly sticky, but not stick to a clean finger. Add more flour if needed.
First Rise: Place dough in a well greased bowl, cover with a towel and allow to rise for 1 to 1 1/2 hours, or until doubled in size.
Make the filling: Mix brown sugar, cinnamon, ginger, nutmeg and cloves.
Roll Out: Punch dough down, place on a lightly floured counter and roll into a 18x20 inch rectangle. Spread softened butter all over the dough, leaving 1'' border, and sprinkle sugar mixture evenly on top. Starting on the shorter (18'' side) roll up into a log. Pinch the ends to seal them and tuck them under the roll.
Cut the dough into 12 slices (about 1 1/2 inches wide) and place the cut rolls in a greased 9x13inch baking dish, or on a jelly-roll pan.
2nd Rise: Cover with a cloth and allow to rise for 1 hour.
Bake: Preheat oven to 375 degrees. Bake for 17-25 minutes, until centers are no longer soft/doughy.
Cinnamon Cream Cheese Frosting: Mix the butter and cream cheese for 2 minutes, until smooth and fluffy. Add vanilla, powdered sugar and cinnamon and whip for a few more minutes. Smooth forsting over warm cinnamon rolls.
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Notes
Storing Instructions: Store in an airtight container in the fridge for up to 3 days. Rewarm in the microwave individually for about 15 seconds, or until soft and warm.Make Ahead Instructions: Make and shape the cinnamon rolls, but for the second rise, cover the pan tightly and refrigerate overnight. Remove from the fridge and allow to rise and come to room temperature before baking.Freezing Instructions: Freeze baked pumpkin cinnamon rolls in a freezer-safe container for up to 3 months. To freeze unbaked pumpkin cinnamon rolls, assemble them as instructed and bake for 10 minutes at 375°F. Cool completely then cover pan well with plastic wrap and aluminum foil and freeze for up to 3 months. Thaw overnight in the refrigerator then return to the oven for 10-15 minutes more until cooked through.