*Place frozen rolls on a silicone lined or greased baking sheet. Cover with sprayed plastic wrap. Leave at room temperature until thawed but still cold, about 1-2 hours. (Optionally place in refrigerator overnight.)
Roll the dough into a large rectangle, about 10-inches wide by 15-inches long, with a rolling pin.
Combine the pumpkin, sugar, vanilla, pumpkin pie spice, and cinnamon. Spread the filling over all but 2-inches of one of the long edges.
Roll the dough from the long end with the filling towards the long end that was left bare. Lift the bare edge, fold it over the top of the log and pinch the seams together.
Cut the rolls into 12 even pieces by placing a piece of (plain, unflavored) dental floss under the rolled dough. Lift the floss up, criss-cross it over the top of the dough, and pull it to cut through the dough and filling.
Place pumpkin filled cinnamon rolls in a lightly greased or parchment lined 13×9-inch baking dish. Cover with greased plastic wrap and let rise in a warm place for 20-30 minutes or until plump. (The dough should spring back when touched.) Meanwhile, preheat oven to 350 degrees Fahrenheit.
Bake at 350˚F for 25 minutes or until golden brown on top and cooked through. The dough should reach an internal temperature of 190-200˚F.
Use an electric hand mixer to blend the cream cheese and butter together until smooth. Add the powdered sugar, vanilla, and pumpkin pie spice. Mix to combine. Add the milk 1 Tablespoon at a time to the desired consistency. You can place the frosting in a bag and pipe it over the top, drizzle it over the rolls, or spread it on top with a spatula.
Notes
Rolls are best eaten while warm.
Store leftovers in an airtight container in the refrigerator.
Nuke leftovers individually in the microwave for 30-45 seconds.