Warm the milk until it's lukewarm.

In a small bowl, combine warm milk, yeast, and a teaspoon of sugar. Let sit for 5 to 10 minutes until frothy.

In a large bowl, whisk together flour, 1/4 cup sugar, salt, and pumpkin pie spice.

Add pumpkin puree, melted butter, egg, and vanilla to the flour mixture. Then pour in the yeast mixture and stir until a rough dough forms.

Turn dough onto a floured surface and knead for 5-7 minutes until smooth and elastic.

Place the dough in a greased bowl, cover with a towel, and let rise for about 1 hour, until doubled in size.

While the dough is rising, mix brown sugar and cinnamon in a small bowl.

After dough has risen, punch it down and roll it out into a rectangle about 1/4 inch thick.

Spread melted butter over the dough and sprinkle the cinnamon and sugar mixture evenly.

Starting from one long edge, roll the dough tightly into a log. Cut into 1-inch thick slices and place in a greased baking dish.

Cover the rolls and let rise for about 30 minutes.

Preheat oven to 350°F (175°C) and bake for 20-25 minutes, or until golden brown.

Mix icing sugar with milk to make a simple glaze, and drizzle over the warm rolls before serving.