In a large bowl add warm milk, water and a teaspoon of the sugar along with the yeast. Let it activate for 5-7 minutes
Add pumpkin puree, egg, soft butter and white sugar, whisk until combined
Stir in flour and salt, make the dough with wooden spatula. You can use a stand mixer with dough hook for making the dough
Then cover the dough with a damp cloth or plastic wrap and allow it to rise for 1 hour or until doubled
Spray a 9x13 pan with baking spray and set aside
Next, roll out the dough to about 12x9 inches
Baste the top with half of the melted butter, reserve the other half
Mix together the cinnamon and brown sugar and sprinkle that on top of the butter
Roll up the dough from the long side
Using dental floss or a knife, cut about 9rolls from the dough and place them in the prepared pan
Cover with a cloth and let the cinnamon rolls rise for 30 minutes.
Preheat the oven to 375°
Baste the tops of the rolls with the remaining melted butter
Bake for 15-20 minutes or until the rolls are baked through
Cool slightly to serve
make the icing: mix the powdered sugar and the vanilla, the stir in just enough milk to make it thin enough to drizzle