Dissolve yeast in warm water in a large mixing bowl. Let stand for 5 minutes.

Add 3 cups of flour, pumpkin, milk, butter, sugar, salt, and spices to the bowl.

Mix well until combined and a dough forms.

Either use the dough hook on the mixer to knead for 10 minutes, or knead by hand for 10 minutes on a floured surface. While kneading, add ¾ cup to 1 cup of the remaining flour, a little bit at a time, to prevent the dough from sticking.

Place the dough in a large bowl coated with cooking spray. Flip to dough over to coat the top of the dough with cooking spray as well. Cover and let rise in a warm place, free from drafts, for 1-2 hours. The dough should double in size.

Check the dough. When it has doubled in size press two fingers into the dough. If an indentation remains, the dough has risen enough.

Punch the dough down; cover and let rest 10 minutes.

Meanwhile, in a small bowl combine all the ingredients for the filling. Mix well. The filling should be a thick paste.

Roll the dough into a 12 x 10 inch rectangle on a floured surface. Spread the brown sugar mixture all over the dough rectangle.

Roll up the dough tightly, starting with the long edge, pressing firmly to release any air bubbles. Pinch the seam and ends to seal.

Cut the roll into 12 (1 inch) slices. Place slices in a 9-inch square baking pan coated with cooking spray. (I put 9 of mine in on a baking pan to freeze for later consumption.)

Cover the cinnamon rolls in the baking dish and let rise for 1 hour.

Preheat the oven to 375 degrees. Bake the rolls for 22-25 minutes or until golden brown. Cool for 10 minutes in the pan on a wire rack.

To make the glaze mix the powdered sugar and the vanilla in a small mixing bowl. Add in the hot water 1 Tablespoon at a time using a whisk to mix the glaze. Sprinkle with cinnamon. Drizzle over the slightly cooled cinnamon rolls and serve warm.