In a small bowl, combine warm milk, yeast, and sugar. Let it sit for about 5 minutes until frothy.

In a large mixing bowl, combine melted butter, pumpkin puree, and egg. Add the yeast mixture and mix well.

Gradually add flour and salt, stirring until a dough forms.

Knead the dough on a floured surface for about 5-7 minutes until smooth.

Place the dough in a greased bowl, cover with a kitchen towel, and let it rise in a warm place for about 1 hour or until doubled in size.

Once risen, punch down the dough and roll it out into a rectangle (about 16x12 inches).

Spread softened butter over the dough.

In a small bowl, mix brown sugar, cinnamon, ginger, nutmeg, and cloves. Sprinkle the mixture evenly over the buttered dough.

Roll the dough tightly from the long side and cut into 12 equal pieces.

Place the rolls in a greased 9x13-inch baking dish. Cover and let rise for another 30 minutes.

Preheat the oven to 350°F. Bake the rolls for 25-30 minutes or until golden brown.

While the rolls are baking, whisk together powdered sugar, milk, and vanilla extract for the glaze.

Once the rolls are done, drizzle the glaze over them while they are still warm.