Warm the whole milk to 105-110°F and mix in sugar and active yeast. Let it sit for 10-15 minutes until frothy.

Combine pumpkin puree, room temperature egg, and melted butter in a bowl. Gradually stir in the frothy yeast mixture, then add flour and sea salt to form a dough.

Knead the dough on a floured surface for 8-10 minutes until smooth. Place in a greased bowl and cover.

Allow the dough to rise in a warm spot until doubled in size, about 1 hour.

Cream together dark brown sugar and pumpkin pie spice with melted butter for the filling in a medium bowl.

Roll out the risen dough into a rectangle, spread the filling, and roll into a log. Slice into 1.5-inch pieces.

Let the sliced rolls rise for another 30 minutes in a warm location.

Preheat your oven to 350°F and bake for 20-25 minutes until golden brown.

Cool for 10-15 minutes, then prepare the frosting and drizzle over the warm rolls.