Preheat the oven to (375 F/190 C).
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.
Next, roll out the dough and baste the top with melted butter. Then mix together the cinnamon and brown sugar. Sprinkle that on top of the butter, then roll up the dough tightly.
Using dental floss or a knife, cut about 9-12 rolls from the dough and place them in a 9×13 inch baking pan which has been sprayed with cooking spray.
Cover with a cloth and let the cinnamon rolls rise for 30 minutes.
Baste the tops with melted butter, bake for 15 to 20 minutes until the rolls are golden brown. Once they are done, allow them to cool.
Make a powdered sugar icing for rolls, and drizzle on top once rolls are cooled.