In a large bowl, combine warm milk and yeast. Let stand for 5 minutes until foamy.
Add pumpkin puree, melted butter, sugar, and salt to the yeast mixture. Stir well.
Gradually add flour, one cup at a time, mixing until a soft dough forms. Knead for 5-7 minutes until smooth and elastic.
Place dough in a greased bowl, cover with a towel, and let rise in a warm place for 1 hour or until doubled.
Roll out dough into a 15x9-inch rectangle. Spread softened butter over the surface, then sprinkle with brown sugar and cinnamon.
Roll up tightly from the long side and cut into 12 equal pieces. Place in a greased 9x13-inch pan.
Cover and let rise for 30 minutes. Preheat oven to 350°F.
Bake for 25-30 minutes until golden brown. While baking, beat cream cheese, powdered sugar, and milk until smooth.
Let rolls cool for 10 minutes, then spread with cream cheese frosting. Serve warm and enjoy!