For dough: In a small saucepan, heat milk, pumpkin, and butter over medium-low heat, stirring frequently, until butter is melted and an instant-read thermometer registers 120°F (49°C) to 130°F (54°C).
In the bowl of a stand mixer, whisk together 2 cups (250 grams) flour, brown sugar, salt, yeast, and nutmeg by hand. Add warm milk mixture and vanilla; using the paddle attachment, beat at low speed until combined, about 1 minute. With mixer on low speed, gradually add remaining 2 cups (250 grams) flour, beating until a shaggy dough forms. Scrape sides of bowl.
Switch to the dough hook attachment. Beat at medium-low speed until dough becomes smooth and elastic, 12 to 15 minutes. (Dough will be tacky but should not stick to sides of bowl.) Turn out dough onto a clean surface, and shape into a smooth round.
Lightly oil a large bowl. Place dough in bowl, turning to grease top. Cover and let rise in a warm, draft-free place (75°F/24°C) until doubled in size, 45 minutes to 1 hour. (Alternatively, refrigerate dough overnight. Punch down dough, and let stand at room temperature for 30 minutes before shaping).
For filling: In a small bowl, stir together brown sugar, butter, pie spice, and salt until smooth.
Lightly spray a 13×9-inch baking pan with baking spray with flour. Line pan with parchment paper, letting excess extend over all sides of pan.
Lightly punch down dough, and turn out onto a lightly floured surface. Roll into an 18×12-inch rectangle with one short side facing you. Spread butter mixture onto dough, leaving a ¼-inch border on one short side. Sprinkle pecans onto butter mixture. Starting with short side opposite border, roll up dough into a log, pinching seam to seal. Trim ends. Cut log into 6 slices (about 2 inches each). Place slices, cut side up, in prepared pan. Cover and let rise in a warm, draft-free place (75°F/24°C) until doubled in size, 45 minutes to 1 hour.
Preheat oven to 350°F (180°C).
Pour cream all over rolls.
Bake until golden brown and an instant-read thermometer inserted in center registers at least 190°F (88°C), about 30 minutes. Let cool in pan for 20 minutes. Using excess parchment as handles, remove from pan, and let cool for 10 minutes on a wire rack.
For frosting: In the bowl of stand mixer fitted with the whisk attachment, beat cream cheese and butter at medium speed until smooth and creamy, stopping to scrape bottom and sides of bowl. Beat in maple syrup and vanilla. Add 3 tablespoons (21 grams) confectioners’ sugar, beating until thick, smooth, and spreadable; beat in remaining 1 tablespoon (7 grams) confectioners’ sugar, if needed.
Spread frosting onto warm or room temperature rolls. Garnish with pecans, if desired. Store in an airtight container for up to 3 days.