Warm milk to 110 degrees F, making sure the milk is not hotter than 115 F or cooler than 95 F, add in yeast and set aside to bloom for about 5 to 10 minutes
In a stand mixer bowl, add together sugar, butter, eggs, pumpkin pie spice, salt and flour. With the paddle attachment, mix well until everything is incorporated
While the stand mixer is on low, slowly pour in the milk/yeast mixture into the bowl, once it is just combined, switch the paddle attachment to the dough hook. Mix well until the dough is pulling from the sides and creating a ball
Place dough into a well oiled bowl, cover with a lightly damp tea towel, and let rise for about an hour until the dough has doubled in size. This might take longer than an hour if you are in a colder area or quicker than an hour if you are somewhere warmer
While the dough is rising, whisk all your pumpkin pie filling ingredients together and set aside
Once the dough has doubled in size dump the dough out onto a floured surface or large piece of parchment paper, to ensure the dough does not stick to the countertop. Make sure the rolling pin also is lightly coated in flour and roll out the dough until it is a rectangle of approximately 16 inches x 12 inches and 1/4 inch thick
Spread the pumpkin pie filling over the dough. From one of the long sides (16 inch side) of the rectangle, roll the dough tightly over to the other side. Cut the rolls into 1 1/2 inch thick slices
I like to use pie dishes to bake them in, you will need two pie dishes well buttered / greased, or one well buttered / greased 13 x 9 pan. Places the rolls in the pie dishes. Set a lightly damp tea towel over the top of the rolls and let the rolls rise again for another 30 minutes until doubled in size
In preheated oven at 350 degrees, bake the rolls for 20 minutes or until golden brown
While the rolls are baking, prepare the frosting. Mix all the frosting ingredients together in a stand mixer with the paddle attachment
Let the pumpkin pie cinnamon rolls cool for 5 minutes or so and then ice them. Sprinkle with a little extra pumpkin pie spice if you’d like