Healthy Cinnamon Rolls

0 In a small bowl add warm milk, sugar and sprinkle the yeast on top. Let it rise for 5minutes. 
1 In a large mixing bowl combine the oil, egg, vanilla, pumpkin puree and mix until smooth and well combined. 
10 Pour in the milk with yeast and stir until combined. 
2 Add the flour and spices and stir until incorporated.
3 Knead by hand or using a mixer for 3-5 minutes until you have an elastic and smooth dough. 
4 Form into a ball and transfer to a lightly greased bowl. Cover with a kitchen towel and let it rise for 1 - 2 hours until doubled in size. 
5 Transfer the dough onto a floured surface. With the help of a rolling pin, roll out the dough until you have a 14×16-inch rectangle.
6 Spread the butter on top and sprinkle with sugar, cinnamon and pumpkin spice. Roll the dough into a log and with a knife cut out 12 rolls.
7 Place the rolls into a 9x13 inch baking pan and cover again. Let them rise for 30 minutes, then preheat your oven to 350 degrees. 
8 Take the rolls to the oven and bake for 20-30 minutes until golden brown on top. 
9 To make the glaze, mix the icing sugar with milk and vanilla. Top the cinnamon roll with glaze and enjoy!