Combine butter and milk in a sauce pan and heat on low until butter has melted. Once butter has melted, add sugar and stir well to combine, cooking on low heat.
Add yeast to 1/4 cup of warm water (make sure it's not too hot, just warm to the touch). Let the yeast dissolve into the water.
While yeast is dissolving, pull butter, milk and sugar mixture off stove and let cool.
Once butter, milk and sugar has cooled down to warm (not hot), combine it with the yeast and water mixture in a large mixing bowl. Add in pumpkin puree, flour, pumpkin pie spice and salt. Stir to combine, you may need to work the ingredients together with your hands to fully incorporate flour.
Once combined, set bowl, covered, in a warm draft free spot for 1-2 hours to rise.
After dough has risen (it should double in size), punch it down and prepare to roll it out. Cover your work surface in flour and set dough on surface. Knead dough six to seven times. Roll out with a rolling pin into a large rectangle. If dough is sticky, add a bit of flour to it, as well as your rolling pin.
Once dough is rolled out, brush softened butter over dough. Sprinkle on cinnamon and pumpkin pie spice followed by brown (or white) sugar.
Tightly roll dough up, starting from edge furthest from you. Continue to roll until you've reached the end. Slice cinnamon rolls (you should get 24 of them, about one inch thick depending on how thin you've rolled out your dough). Set cinnamon rolls in buttered pan (two 9x13 pans works well, each holding 12).
At this point you can bake your rolls, or cover and place in the fridge for up to twenty four hours.
Preheat your oven to 375. While oven preheats, let cinnamon rolls sit at room temperature (approx 20 minutes). If cinnamon rolls have been in the fridge and are cold, it's best to give them 30-40 minutes at room temperature prior to baking.
Bake the cinnamon rolls for 18-25 minutes, until tops are golden brown and centers look firm. Remove from oven and let cool for approx five minutes.
While cinnamon rolls are cooling, mix up glaze, combining milk, powdered sugar, melted butter, vanilla extract, maple extract and pinch of salt in a large bowl and mixing well. The glaze should be pourable. If it's too thick, add additional milk, one tablespoon at a time.
Pour glaze over cinnamon rolls. Serve immediately or allow to sit. Store covered. Enjoy!