These Pumpkin Cinnamon Rolls are soft, fluffy, and filled with brown sugar, cinnamon, and pumpkin pie spice. They're finished with a creamy maple Greek yogurt glaze for the perfect fall breakfast or weekend treat.
In the bowl of a stand mixer, combine the ¾ cup warm milk, ¼ cup granulated sugar, and 2¼ teaspoons active dry yeast. Let it sit for 5-10 minutes until foamy.
In a large bowl, add the 1 cup pumpkin purée, ¼ cup vegetable oil, 1 large egg, 3 teaspoons vanilla extract, 2 teaspoons pumpkin pie spice, ½ teaspoon ground cinnamon, and 1 teaspoon fine kosher salt. Whisk until combined. Stir in the milk.
Gradually add the 3¾-4 cups white whole wheat flour, about ½ cup at a time, mixing until a soft dough forms. Knead with the dough hook for 8-10 minutes, or until the dough is smooth, elastic, and only slightly tacky. If mixing by hand, knead for about 10-12 minutes.
Transfer the dough to a lightly greased bowl, cover, and let it rise in a warm place for about 1 hour, or until doubled in size.
Meanwhile, make the filling by mixing 1/2 cup dark brown sugar, 1/4 cup granulated sugar, 2½ tablespoons ground cinnamon, and 2 teaspoons pumpkin pie spice.
Turn the risen dough onto a lightly floured surface and roll it into a 12 x 18-inch rectangle.
Sprinkle the filling evenly over the dough, leaving a ½-inch border around the edges.
Starting from the long side, roll the dough tightly into a log. Slice into 12 equal rolls and arrange them in a lightly greased 9 x 13-inch baking dish.
Cover and let the rolls rise again for 30-45 minutes, until puffy. Meanwhile, preheat the oven to 350°F.
Bake for 25-30 minutes, or until the tops are lightly golden and the centers are cooked through. Allow the rolls to cool for 10-15 minutes.
Blend together the 4 ounces light cream cheese, ½ cup full-fat Greek yogurt, 1/3 cup pumpkin puree, 1/4 cup maple syrup, 1 teaspoon vanilla extract, and 2-3 tablespoons milk to create a smooth, spreadable glaze. Spread over the warm cinnamon rolls before serving.
Notes
Use plain pumpkin puree, not pumpkin pie filling.
The dough should be soft and slightly tacky, not overly sticky.
Add the flour gradually and only use as much as needed.
Let the dough double in size during the first rise.
Don't skip the second 30-45 minute rise before baking.
Bake just until the tops are lightly golden, and the centers are cooked through.
Let the rolls cool for 10-15 minutes before adding the glaze.
Store glazed rolls in the refrigerator for up to 4 days.
For freezing, freeze the baked rolls without the glaze for up to 3 months.