Grease a medium bowl with cooking spray. In a small bowl, mix yeast with warm milk and let sit until foamy, about 5 minutes.
Combine flour, sugars, and salt in the bowl of a stand mixer. Add yeast mixture, pumpkin, and egg. Mix with the dough hook until smooth.
Add butter gradually until a smooth dough forms. Transfer dough to prepared bowl, cover, and let rest for 1 to 1 ½ hours.
Prepare the filling by combining butter, brown sugar, cinnamon, salt, nutmeg, and cloves in a bowl.
Preheat oven to 400°F. Grease a 9”x13” baking pan. Roll dough out on a floured surface into an 18”x14” rectangle.
Spread filling over dough, then sprinkle with chopped pecans. Roll dough tightly into a log, then cut into 12 rolls. Place in prepared pan and let rise for 30 minutes.
Bake for 25 minutes until golden. Let cool for 20 minutes.
Make icing by beating cream cheese and butter, then adding powdered sugar, salt, and maple syrup. Frost warm cinnamon rolls and enjoy!