Place pumpkin, warm milk, softened butter, egg, and brown sugar in the pan of your bread machine.
Add the salt, pumpkin pie spice, and flour. Make a well in the center of the flour, and add the yeast.
Place the pan in your bread machine, and set to the "dough" cycle.
When machine beeps, check to see if dough has risen. Depending on temperatures, it may take longer than the actual cycle. Leave dough in machine until risen.
Place dough on a flour covered work surface and allow to rest for 10 minutes.
Roll dough into a 15" x 18" rectangle. Spread butter over dough.
Mix sugar and cinnamon together in a small bowl, sprinkle over the butter.
Starting rolling up the long side of the dough to create a log.
Mark dough and slice into (12) 1 1/2" slices.
Place rolls into a 9 x 13 baking pan that has been sprayed with baking spray.
Cover and allow to rise until doubled in size, about an hour. Preheat oven to 350 degrees.
Place in oven and bake for about 20 minutes, or until golden brown and cooked through in the center. Remove from oven and allow to cool slightly.
Beat cream cheese and butter together in a large bowl until smooth.
Add the maple extract and powdered sugar, and beat until creamy.