Heat the milk until it reaches a lukewarm temperature, similar to bathwater. In the microwave, 35-45 seconds with a stir should do the trick. Combine the warm milk with active dry yeast and a teaspoon of sugar. Mix thoroughly and let it rest for 10 minutes.
If bubbles have formed after 10 minutes, give it a mix. Then, add in the pumpkin puree, melted butter, egg, and the remaining sugar. Mix until well combined, with a smooth consistency.
Gradually incorporate the flour into the mixture, mixing until the wet and dry ingredients are fully combined.
If your dough is sticky, use your hands to bring it together. Don't worry if it's a bit flaky or has some crumbly parts. Flour a dry surface and start kneading by hand for 7-8 minutes. Alternatively, you can use a stand mixer with a hook attachment for this step.
Once your dough is smooth, transfer it to a large, buttered bowl. Cover it with a damp towel and place it in a cool, dry spot for approximately 60 minutes or until the dough doubles in size.
After your dough has doubled, transfer it to a floured clean surface and roll it out into a large rectangle. Spread a generous layer of softened butter over the dough. In a small bowl, stir together the cinnamon, sugar, nutmeg, and allspice, then sprinkle the mixture evenly on top of the butter. Roll the dough tightly to form a nice log. Cut the log into 12 equal pieces (there might be leftovers).
Line a 13x9-inch baking dish with parchment paper, then butter the paper. Transfer the rolls to the prepared baking dish. Cover with a damp towel, and allow it to rise for the second time or until it has doubled in size.
Preheat the oven to 350°F.
Bake in the preheated oven for 25-35 minutes or until they are nice and soft on the inside, with a golden brown exterior.
In a stand mixer or large bowl with a hand mixer, mix together the powdered sugar, cream cheese, latte mix, and vanilla until smooth and creamy.
Let the cinnamon rolls cool for 5 minutes, then generously glaze the rolls with the frosting. Serve them warm and enjoy!