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In a large bowl, whisk together the yeast, sugar, flour, salt and pumpkin pie spice.
In a small bowl, mix together the water, milk, butter and pumpkin puree and heat until very warm (120°-130°F).
Add the wet ingredients to the dry ingredients and mix well using a spatula.
Add the egg and mix well.
On a lightly floured surface, knead the dough for about 5 minutes or until smooth. The dough should be soft but not too sticky.
Place the dough back in the bowl and cover with plastic wrap. Let it rest for 5 minutes.
In a medium bowl, mix together the brown sugar, cinnamon and pumpkin pie spice. Set aside.
Preheat the oven to 350F and lightly grease a 9"x13" baking dish.
Roll out the dough into a 16"x14" rectangle. Brush the dough with the softened butter and sprinkle the pumpkin pie spice mixture evenly on top.
Roll the dough starting from the bottom to the top.
Cut 12 rolls about 1-½" thick and place in the baking dish.
Bake until the tops are lightly golden, about 25-28 minutes.
Remove from the oven and let sit for 10 minutes.
In a medium bowl, beat together the cream cheese and butter using a hand mixer.
Add the vanilla extract, heavy cream and maple syrup.
Slowly add the powdered sugar and mix until well combined.
Drizzle the glaze on top of the cinnamon rolls.