Combine warmed milk, yeast and 1 teaspoon sugar, set aside.
With a mixer, cream butter and brown sugar together until well combined.
Add egg, pumpkin puree, vanilla and combine.
Pour in yeast and milk and mix on low for a minute.
In a medium bowl whisk together gf flour, baking soda, baking powder, pumpkin spice.
Add dry ingredients to wet and combine well at medium speed. It should ball up in a dough, scrape down sides and off beater once to ensure well mixed.
In small bowl combine filling ingredients.
Tape plastic wrap or parchment paper on your rolling surface and sprinkle lightly with gf flour.
Place your ball of dough in the center and cover with plastic/parchment and roll out into a rectangle (approximately 12” x 10”).
Spread the filling evenly across the rolled out dough.
Starting along the long end, use the bottom sheet of plastic wrap to lift the edge of the dough and roll it up, forming a long cylinder. Pull tightly in a downward motion. You can flour your hands and adjust if need.
Use a thin knife to cut into about 1.5” rolls, place into a buttered pie pan and cover with plastic wrap and place in the fridge. (If you’re making them day of rather than over night, they should rest at room temp for 45 minutes to an hour before baking.)
Before baking, let sit at room temperature for a half hour.
Preheat oven to 400 degrees.
Bake for 25-30 minutes.
While baking whisk together all icing ingredients.
Allow to cool and then top with icing.
Serve immediately. Warm in the oven if needed.