Make your dough- Mix the instant yeast, water, and milk. Set aside for 10-15 mins. In a separate bowl, add all your dry ingredients and mix well. Add in your wet ingredients and form your dough. Knead in your softened butter for 7-10 minutes.
Grease the bowl and let your dough rise for 1 hour to 1 hour and a half.
Rolling – Flour your surface and grab a rolling pin. Rub flour on it so it does not stick to your dough. Roll out your dough into a 1/4 in thick square.
Filling- Mix your softened butter with the cinnamon, brown sugar and pumpkin spice and spread evenly across the dough, leaving 1/2" space at both ends.
Cut your dough- Use a pizza cutter to cut 1" strips. Roll each strip and pinch the end of the strip into the roll. You will get roughly 12 rolls.
Second Rise- Place your rolls in a 8" by 11" baking dish (or 8" by 13" with handle) and cover with plastic wrap. Rest for 45 minutes to 1 hour or until doubled in size. This depends on the humidity of your environment.
Bake- Preheat your oven to 350°F and bake for 20-22 minutes. If the center of the roll pops out during baking, push it down immediately after removing from the oven. Cool for at least 10 minutes before adding your frosting.
Frosting – In a bowl, combine your softened cream cheese, powdered sugar, vanilla extract and mix until smooth.
Add your frosting- Spread the frosting over your pumpkin spice cinnamon rolls and enjoy!