Proof the yeast. Stir yeast and 1/4 teaspoon of sugar with warm water. Set aside for 5-10 minutes until foamy.

In a stand mixer, combine warm milk, melted butter, pumpkin, sugar, salt, half the flour, and the yeast mixture.

With the mixer on, add more flour, in 1/2 cup increments, until the dough starts to form. You may or may not use as much flour as what is stated in the recipe card, go by feel. The dough should be sticky to the touch without leaving a residue on your hands.

Lightly grease dough ball and bowl with oil. Cover and let rise for one hour or until doubled in size.

Roll out the dough into a 24x12 inch rectangle.

Melt butter and combine with maple syrup. Spread the mixture onto the dough then sprinkle with brown sugar, cinnamon, and nutmeg.

Roll up the dough and cut into 16 even rolls. Place into a greased baking pan, cover, and rise (again) for an hour or until double in size.

Bake for 20-25 minutes at 350 degrees or until golden brown. Remove from the oven and cool a couple of minutes before frosting.

While the Pumpkin Cinnamon Rolls are baking, make the frosting! Combine powdered sugar, milk, melted butter, vanilla extract, and maple extract until smooth.

Spread over warm rolls, then enjoy!