In a stand mixer bowl, combine lukewarm milk and a pinch of sugar. Sprinkle the yeast over the top and let it sit for 5 to 10 minutes, until frothy.

Add pumpkin purée, melted butter, sugar, egg, salt, and pumpkin pie spice. Mix to combine. Gradually add flour while mixing until a soft dough forms. Knead for about 7 minutes until smooth. Drizzle a splash of avocado oil over the dough, cover, and let it rise in a warm place for 1 hour or until doubled in size.

Punch down the dough and roll it into a large rectangle (about 12x18 inches). Spread the pumpkin purée evenly on top.

In a bowl, mix brown sugar, cinnamon, nutmeg, and softened butter (it's okay if it's clumpy). Scatter this mixture over the pumpkin layer. No need to spread it—drop it in chunks.

Roll the dough tightly from the long edge. Slice into 8 thick rolls and arrange them in a greased baking dish.

Cover the rolls and let them rise for another 30 minutes.

Preheat oven to 350°F (175°C). Bake for 20 to 25 minutes or until golden and puffy.

Mix powdered sugar, milk, and vanilla until smooth. Drizzle over warm rolls and serve.