Allow the dough to thaw to room temperature (about 2 hours). Flour your board and roll the dough out into a large rectangle.
In the bowl of an electric mixer fitted with the paddle attachment, beat the cream cheese until smooth. Add in the pumpkin puree, add in half the brown sugar and half the cinnamon and mix well.
Spread the pumpkin cream cheese mixture onto the dough. Sprinkle with the remaining brown sugar and cinnamon.
Starting at one edge of the dough, tightly roll the dough up into a big log. Cut the log into 8 equal pieces.
Grease a round cake pan, then position the rolls in the pan. Cover and let rise in a warm spot for 30 minutes. Preheat the oven to 350-degrees F. Brush the melted butter onto all the rolls.
Bake for 15-18 minutes until the rolls are golden brown on top, and no longer gooey in the middle. Let the cinnamon rolls rest while you mix up the icing:
In an electric mixer fitted with a whisk, beat together the cream cheese and butter until smooth. Add in the vanilla extract and mix. Slowly add in the confectioners’ sugar a little at a time until the icing is smooth and thick. Add milk 1 teaspoon at a time as needed to achieve your desired consistency.
Spread the icing over the Pumpkin Cream Cheese Cinnamon Rolls while they're still warm and serve immediately.
Store any leftovers in the refrigerator up to 1 week.