In a saucepan, gently heat whole milk, vegetable oil, and sugar over medium heat until warm but not boiling. Remove from heat and let it cool slightly, then sprinkle the active dry yeast on top, allowing it to activate for about 5 minutes until frothy and bubbly.

Once the yeast has activated, whisk in the pumpkin puree thoroughly into the mixture.

In a large mixing bowl, combine all-purpose flour with ground cinnamon, nutmeg, ginger, baking soda, baking powder, and salt. Gradually add this dry mixture to the wet ingredients, stirring gently until a soft dough forms.

Turn the dough out onto a floured surface and knead it for about 5–7 minutes until smooth. Place the dough in a lightly greased bowl and let it rise in a warm spot for about 1 hour.

After the dough has risen, punch it down and turn it onto a floured surface. Roll it into a large rectangle about ¼ inch thick. Spread melted butter over the surface and sprinkle the filling mixture on top.

Starting from one edge, roll the dough tightly into a log shape. Slice into 1-inch thick pieces and place in greased baking pans.

Preheat the oven to 375°F (190°C). Bake for about 15–18 minutes or until golden brown.

While the rolls are baking, prepare the cream cheese frosting by beating cream cheese, powdered sugar, and milk in a mixing bowl until creamy.

Once the rolls are done baking and slightly cooled, frost them generously while still warm.