Warm ½ cup of whole milk to a temperature between 100-115°F (38-46°C).

In a medium bowl, whisk together 1½ cups of all-purpose flour, 1½ teaspoons of instant yeast, 1 tablespoon of light brown sugar, ½ teaspoon of ground cinnamon, and a pinch of salt.

In another bowl, whisk together the warm milk, ½ cup of pumpkin puree, 2 tablespoons of melted unsalted butter, and 1 large egg.

Combine the wet mixture with the dry ingredients and knead the dough for 7-8 minutes.

Let the dough rise in a greased bowl for about 1 hour or until doubled in size.

Mix together 2 tablespoons of granulated sugar, 2 tablespoons of light brown sugar, and 1 teaspoon of ground cinnamon for the filling.

Roll out the dough into a rectangle measuring approximately 10x12 inches and spread 2 tablespoons of softened unsalted butter over the surface.

Sprinkle the cinnamon-sugar filling evenly over the buttered dough.

Roll the dough into a log shape and slice into 6 equal pieces.

Cover the rolls with a towel and let them rise again for about 25 minutes.

Preheat the oven to 350°F (175°C) and bake the rolls for 20-25 minutes.

Whisk together 1 cup of sifted powdered sugar, 2 tablespoons of pure maple syrup, and ½ teaspoon of vanilla extract for the frosting.

Cool the rolls for 10 minutes before frosting them with the maple frosting while still warm.