Dissolve your yeast in your warmed milk in a large bowl for about 3 minutes.
Add in your pumpkin, butter, brown sugar, salt, eggs, flour, nutmeg and cinnamon into your milk. Mix everything together.
When the dough starts to pull from the edges, knead for 5 minutes until a large ball is formed.
Remove your dough ball from the bowl and spray the bowl with nonstick spray. Put your dough back into the bowl and cover your bowl with a towel. Leave it to rise in a warm place for about 45 minutes, to 1 hour, until it doubles in size.
Preheat your oven to 400 degrees.
Lightly flour your counter top and roll your dough into a rectangle, about 1/4 inch thick and about 16x22.
Coat your dough with your melted butter, covering completely.
Combine your brown sugar, cinnamon, nutmeg, cloves and allspice.
Sprinkle brown sugar mixture over the surface of your dough covering completely.
Roll your dough from the top edge to the bottom edge (so the roll is 22 inches).
Carefully cut your roll into 1.5 inch slices and place them in a lightly greased 9x13 baking pan. You'll want 12 rolls, any extra dough can be discarded.
Bake in preheated oven for 15-20 minutes, until the top is golden and the dough is fully cooked. Remove from the oven and allow to cool for about 5 minutes.
While the rolls are cooling, combine the ingredients for the frosting. Add a little more powdered sugar or a little more milk if you need to change the consistency of your frosting.
Spread the frosting generously over the top of the rolls.