In a large bowl, combine the warm milk, yeast, and granulated sugar. Let sit for 5 to 10 minutes until foamy.

Add the pumpkin puree, egg, and melted butter, then mix until smooth.

Stir in the flour, salt, cinnamon, nutmeg, ginger, and cloves until a soft dough forms.

Knead the dough on a lightly floured surface for 6 to 8 minutes, until smooth and elastic. Place in a greased bowl, cover, and let rise in a warm place for 1 to 1 1/2 hours, or until doubled in size.

In a small bowl, mix the brown sugar and cinnamon for the filling.

Punch down the dough and roll it out on a floured surface into a 16 x 12-inch rectangle. Spread the softened butter evenly over the dough, then sprinkle with the cinnamon-sugar filling.

Starting from the long side, tightly roll the dough into a log. Cut into 12 even rolls and place them in a greased 9 x 13-inch baking dish.

Cover and let rise for 30 to 45 minutes, until puffy.

Preheat the oven to 350°F (175°C). Bake the rolls for 22 to 28 minutes, or until golden brown and cooked through.

While the rolls bake, beat the cream cheese, powdered sugar, vanilla, and enough milk to make a smooth spreadable frosting.

Spread the frosting over the warm rolls and serve.