Warm 1 cup of milk until lukewarm, sprinkle yeast over and let bloom for 5-10 minutes until frothy. Combine flour, butter, eggs, sugar, cinnamon, cardamom, and salt in a bowl. Mix in the milk and yeast to form a smooth dough.

Transfer dough to a greased bowl, cover with a towel, and let rise in a warm spot until doubled in size, about 1-2 hours.

Mix pumpkin purée, brown sugar, cinnamon, and a pinch of salt in a bowl until smooth to prepare the filling.

Flour your surface, roll the dough into a rectangle about ¼ inch thick, spread pumpkin filling evenly, and roll tightly into a log. Slice into 12 pieces.

Place the rolls in a greased baking dish, cover with a towel, and allow to rise until puffed, about 30 minutes to 1 hour.

Preheat oven to 375°F (190°C). Bake rolls for 25-30 minutes until golden brown.

Beat together cream cheese, butter, maple syrup, and powdered sugar until smooth to make the icing.

Let rolls cool for 10 minutes, then drizzle icing over warm rolls and serve.