This pumpkin spice cinnamon roll is the best fall breakfast treat ever! Soft and gooey, with just the right texture!
Place the warm milk in a large bowl of a stand mixer, add yeast and 2 tablespoons of sugar. Let sit until mixture begins to bubble, about 1 minute.
Add all of the wet ingredients: pumpkin, oil, butter. Mix with the paddle attachment until blended. Add egg and egg yolk. Mix again.
Add 2 cups of the bread flour and salt. Mix until ingredients are incorporated. Switch to a dough hook if preferred. Slowly mix in the last cup of bread flour. Mix until the flour is incorporated and continue mixing for 1 minute on low.
Lightly spray or coat the sides of the bowl with oil and cover the dough with plastic wrap or a light, clean kitchen towel. Place in a draft free area that is 72-85 degrees for 1-1 1/2 hours.
While the dough is rising, prepare the filling and the icing.
In a medium size bowl, using a fork, mix room temperature butter, 1 tablespoon pumpkin puree, vanilla, brown sugar and pumpkin pie spice. Set aside.
Mix all glaze ingredients together. If using pure maple syrup, you may not need to use milk or cream to thin. Set aside until ready to frost warm rolls.
When the dough is finished rising for the first time, punch the dough down and flour a clean surface. The dough should be soft, but not sticky. If the dough is sticky, add additional flour about 1/4 cup at a time until the dough is no longer sticky to the touch. Place the dough on the floured surface. Roll into a rectangle approximately 20x10".
Spread the filling over the surface of the dough leaving a 1/2 inch border around the edges. Roll the dough, starting with the long side, tucking in any filling that spills out over the edges.
Using a sharp knife, cut the rolled dough into half, then each half into 2 pieces, then each portion into 3 even rolls. You should have 12 rolls when finished.
Grease a 9x13 or 2-9x13 pans for baking. Place the rolls into the pans. let rise in a warm place for about 45 minutes.
While rolls are rising, preheat oven to 375 degrees and place the rack in the center of the oven.
After rising, bake the rolls for 15-18 minutes or until set on top and golden on bottom.
While rolls are still hot, top with a thin layer of icing. Let cool for about 10 minutes, then top with remaining icing and serve.