In a mixing bowl, combine warm milk, pumpkin puree, sugar, and yeast. Let sit for 5 minutes until frothy.

Add melted butter, egg, and salt to the mixture. Gradually add flour until a soft dough forms.

Knead the dough on a floured surface for about 5 minutes until smooth. Place in a greased bowl, cover, and let rise for 1 hour.

In a small bowl, mix together brown sugar, cinnamon, nutmeg, and ginger.

Roll out the dough into a rectangle and spread softened butter over it. Sprinkle the filling evenly on top.

Roll the dough tightly and cut into 12 equal pieces. Place in a greased baking dish.

Preheat the oven to 350°F (175°C). Let the rolls rise for an additional 30 minutes.

Bake for 20-25 minutes until golden brown. Remove from oven and let cool slightly.

In a bowl, whisk together powdered sugar, brewed coffee, and vanilla until smooth.

Drizzle the glaze over the warm cinnamon rolls before serving.