Heat the milk to between 105°F and 115°F. Add the granulated sugar and yeast. Stir briefly and then set aside for the yeast to activate. When the yeast is bubbly and risen, after about 5 minutes, proceed with the recipe.
In a mixing bowl, combine the all-purpose flour, salt, and spices. Whisk to combine and set aside. In the bowl of a stand mixer fitted with a dough hook, combine the pumpkin purée, melted butter, maple syrup, beaten eggs, and the yeast mixture. Stir together and then add the dry ingredients.
Mix, using the dough hook, until the dough starts to come together. Scrape down the sides occasionally to encourage the dough to come together. If the dough is too sticky and sticks to the side without forming a ball, then add more flour, a tablespoon at a time.
Continue mixing with a dough hook on low speed for about 10 minutes until the dough is soft and stretchy. After mixing, take the dough out and lightly knead a couple of times on the counter to bring it together into a smooth ball.
Transfer the dough to a greased bowl. Rub a little oil on top of the dough. Cover with cling film or a tea towel and then set in a warm place to rise for 1 to 1 ½ hours until double in size.
Cinnamon Roll Filling
In a small bowl combine the brown sugar, spices, and kosher salt and set aside. Transfer the dough to a lightly floured counter pressing down gently to deflate. Roll the dough out into a large rectangle, about 18” by 10” in size.
Spread the softened butter over the dough. Sprinkle the spiced sugar mixture evenly over the dough, pressing down gently so that it adheres to the butter.
Spray a 9” by 13” baking pan with non-stick spray. Roll the dough up starting with the long side. Use a sharp knife to cut the roll into 12 pieces. Place the rolls in the prepared pan. Cover with a tea towel and let rise in a warm place for another 30 minutes or until double in size.
Preheat the oven to 350°F. Bake the cinnamon rolls for 25 to 30 minutes until lightly browned and cooked through. While the rolls are baking prepare the maple cream cheese icing.
Cream Cheese Icing
In a mixing bowl combine the softened cream cheese, butter, and maple syrup. Beat together until creamy. Add the icing sugar and beat until the icing is smooth. Add the maple extract and kosher salt and beat to combine.
When the rolls are done, transfer the baking dish to a rack and let sit for a few minutes. Drop the icing onto the warm rolls and let sit for a minute to soften. Gently spread the icing over the rolls. Enjoy!
Notes
Once frosted, the cinnamon rolls should be stored in the fridge. For best flavour and texture, warm the leftover cinnamon rolls before serving.