Pumpkin cinnamon rolls are a delicious fall breakfast!
In the bowl of an electric mixer, combine flour, sugars, salt, and spices. Add ¼ cup melted butter and stir to combine. Add milk mixture, pumpkin, and egg, and mix until combined. If you haven't been using your dough hook, switch to it now and knead on low (speed 2 for me) for 5 minutes, until dough is stretchy and smooth.
Place dough in an oiled bowl and cover with plastic wrap. Let rise for 1 hour, until about doubled.
Grease your 9x13 inch pan (or two 9-inch or 8-inch pans) very well. Or line the bottom with parchment paper and grease the sides of the pan.
Turn dough out onto a floured surface and sprinkle the top of it with flour. Roll out into a 16x11 inch rectangle. You may be able to use your hands to pat it most of the way there. Brush with remaining 2 tablespoons melted butter. Stir together remaining ingredients for the filling, and sprinkle evenly on the dough.
Combine powdered sugar with vanilla and enough milk to make a thick glaze. Brush over warm buns. Serve immediately. Buns are best the day they are made.