01 - In a large bowl, combine warm milk, warm water, and active dry yeast. Allow the mixture to rest for 5 minutes until foamy.
02 - Add granulated sugar, melted butter, eggs, and salt to the yeast mixture. Gradually incorporate all-purpose flour until a soft dough forms.
03 - Knead dough on a lightly floured surface for 6 to 8 minutes until smooth and elastic. Transfer to a greased bowl, cover, and let rise in a warm area for 1 hour or until doubled in volume.
04 - In a medium bowl, whisk together pumpkin puree, brown sugar, vegetable oil, and egg. Stir in flour, baking powder, baking soda, cinnamon, nutmeg, cloves, and salt until just combined.
05 - Combine brown sugar and cinnamon in a small bowl.
06 - Punch down the risen dough and roll out on a floured surface to a 12 by 18-inch rectangle. Spread softened butter evenly on the dough, then sprinkle with cinnamon sugar mixture.
07 - Place small dollops, about 1 tablespoon each, of pumpkin muffin filling evenly across the dough. Gently smooth the filling, maintaining a 1-inch border along one long edge.
08 - Beginning with the opposite long side, roll the dough tightly into a log. Pinch to seal the seam. Slice the log into 12 equal pieces using a sharp knife or dental floss.
09 - Arrange the rolls, cut side up, in a greased 9 by 13-inch baking dish. Cover and let rise for 30 to 40 minutes until puffy.
10 - Preheat oven to 350°F. Bake for 25 to 30 minutes until golden brown and fully set. Tent loosely with foil if browning too quickly.
11 - Beat cream cheese and butter until smooth. Add powdered sugar and vanilla, mixing until creamy. Add milk for desired frosting consistency.
12 - Allow rolls to cool slightly, then spread with cream cheese frosting and serve warm.