Gather your ingredients so that you have everything close at hand on the counter or table. Prepare two round baking pans with baking spray. Set aside until ready to use.
Make the Dough
In a small bowl, combine the all-purpose flour and instant yeast. Stir to combine.
Using a glass measuring cup, heat whole milk and butter just until warmed, about 15-25 seconds in the microwave. You want the milk to be warm, not hot, with the butter just starting to melt.
In a large mixing bowl, combine the pumpkin puree, granulated sugar, large egg, ground cinnamon, nutmeg, and salt. Mix well to combine. Pour in the warm milk and butter.
Using a dough hook and mixing on low speed, gradually add in half of the flour mixture. When a sticky dough forms, stop and scrape the bowl. Begin mixing once more and gradually add the remaining flour. Continue mixing until a slightly firm dough forms.
Place the dough in a bowl sprayed with baking spray. Turn the dough over, and cover the bowl with plastic wrap. Allow the dough to rise for 1-2 hours, depending on the temperature in your kitchen.
Prepare Filling
Gather your filling ingredients. Melt the butter in the microwave.
In a small bowl, combine the brown sugar, melted butter, ground cinnamon, nutmeg, ginger, and ground cloves. Mix well to combine.
Assemble the Cinnamon Rolls
Once the dough has doubled in size, gently punch the dough down and turn out onto a lightly floured work surface. Roll the dough into an 8" x 12" rectangle.
Spread the filling mixture over the dough to about 1/2" inch from edges.
If desired, you may sprinkle 1/2 cup chopped pecans and 1/3 cups raisins over the sugar mixture.
Begin rolling the long edge tightly and seal edges by pinching the seam together with your fingers.
Mark slices with the edge of a knife, then using plain dental floss, slice the rolls by bringing the floss up and around the dough, crossing threads at the top to cut off each slice. Do this for each of the 12 rolls.
Place rolls into the prepared baking pans. Cover and allow to rise an additional 45-60 minutes until dough has nearly doubled.
Preheat oven to 350F degrees. Bake for 20-25 minutes until golden brown. Cool on wire rack for five minutes before icing.
At this point, you may opt to store cooled rolls by wrapping them in plastic wrap and then in a plastic freezer bag. Freeze up to two months. To serve once frozen, place frozen rolls on a baking sheet and heat for 10-12 minutes at 350 degrees until warmed through. Then continue with the recipe from here.
Prepare the Icing
In a small bowl, combine the powdered sugar, melted butter, hot water, and maple flavoring. Mix well with a spoon. Frost rolls while they are still warm.
Rolls are best served the day they are made. To store leftovers, cover with aluminum foil or plastic wrap and reheat in microwave or oven to serve the next day. This recipe will makes 12 rolls.
Notes
*Unless otherwise indicated, all butter used on this recipe site is salted.