Creating your delicious Pumpkin Cinnamon Roll Bake is straightforward with these steps:

1. Prepare the Dough: In a large mixing bowl, combine the flour, sugar, salt, and cinnamon. In another bowl, mix the warm milk, melted butter, pumpkin puree, egg, and vanilla.
2. Combine Mixtures: Slowly add the wet ingredients to the dry ingredients. Mix until the dough forms a ball and is slightly sticky.
3. Knead the Dough: Turn the dough out onto a floured surface. Knead gently for about 5 minutes until it becomes smooth.
4. Let Rise: Place the dough in a greased bowl, cover it with plastic wrap, and let it rise in a warm area for about 30 minutes or until doubled in size.
5. Prepare Filling: In a small bowl, mix together the brown sugar, cinnamon, and softened butter. Set aside.
6. Roll the Dough: After the dough has risen, punch it down and roll it out on a floured surface into a rectangle about 1/4-inch thick.
7. Spread Filling: Spread the cinnamon filling evenly over the rolled-out dough.
8. Form Rolls: Starting from the long edge, carefully roll the dough up tightly into a log. Slice the log into 12 equal pieces.
9. Arrange in Baking Dish: Place the sliced rolls into a greased baking dish, cut side up in a spiral.
10. Bake: Preheat the oven to 350°F (175°C). Bake the rolls for 35-40 minutes until golden brown and fully cooked.
11. Prepare Glaze: While the rolls are baking, mix the softened cream cheese with powdered sugar, milk, and vanilla until smooth.
12. Cool and Glaze: After baking, let the rolls cool for about 10 minutes before drizzling with the cream cheese glaze.

Your Pumpkin Cinnamon Roll Bake is now ready to be enjoyed!