Warm milk for 20 seconds in the microwave so it is between 100-115 degrees. Add a pinch of granulated sugar and the yeast. Gently stir to dissolve the yeast. Allow to sit for 10 minutes so the yeast becomes activated and frothy.
In a small bowl combine the flour, granulated sugar, and pumpkin pie spice. Add the melted butter, egg yolk, pumpkin puree and yeast/milk mixture. Stir with a wooden spoon until all combined.
Place the dough on a floured surface and knead for 4-5 minutes. The dough will be fairly sticky so make sure your hands are well floured and have extra flour available to add as you keep kneading.
Place dough in a clean bowl sprayed with cooking spray. Cover with a towel and let sit for 30 minutes. The dough should double in size.
Add more flour to your work surface and roll out the dough with a rolling pin to an 8x12 rectangle. Spread the 2 Tbsp of butter over the dough. Mix together the rest of the filling ingredients so they make a paste. Spread evenly over the dough.
Roll up the dough and cut into either 4 or 6 cinnamon rolls. If you rolled along the long edge then you will get 6 cinnamon rolls. Place in an 8x8 baking dish lined with parchment paper or sprayed with cooking spray. Cover with a towel and let rise for 20 minutes. Meanwhile preheat oven to 375 F.
Bake cinnamon rolls at 375 F for 15-17 minutes so that the outside is baked but the inside is still slightly gooey.
While the cinnamon rolls are cooling for a few minutes make the frosting. Place the softened butter and cream cheese into a small mixing bowl. Use a hand mixer to combine the butter and cream cheese. Add the powdered sugar and maple syrup. Mix until there are no lumps. Spread the cream cheese frosting evenly over the rolls. Enjoy while still warm!