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Warm the milk until it is slightly heated but not hot. Stir in instant yeast and a teaspoon of sugar, then let it sit until foamy.
In a large bowl, combine pumpkin puree, melted butter, granulated sugar, and egg. Mix until smooth.
Add the yeast mixture to the bowl and stir to combine.
Gradually add flour, cinnamon, nutmeg, and cloves. Mix until a soft dough forms.
Knead the dough for about eight to ten minutes until smooth and elastic. Cover and let rise for about one hour or until doubled in size.
Once risen, roll out the dough into a rectangle on a lightly floured surface.
Spread softened butter over the dough, then sprinkle with brown sugar and cinnamon for the filling.
Roll the dough tightly into a log and cut into even slices. Place the rolls in a greased baking dish.
Cover and let them rise again for about thirty minutes.
Preheat oven to 350 degrees Fahrenheit and bake the rolls for twenty five to thirty minutes until golden brown.
While baking, prepare glaze by mixing cream cheese, powdered sugar, vanilla extract, and a little milk until smooth.
Spread the glaze over warm rolls before serving.