In a large bowl, combine yeast, warm milk, and sugar. Let stand for 5 minutes until foamy.

Add salt, melted butter, and 2 cups of flour. Mix until combined.

Gradually add the remaining flour, kneading until a soft dough forms. Knead for 5-7 minutes.

Place dough in a greased bowl, turning to coat. Cover and let rise in a warm place for 1 hour, or until doubled in size.

On a lightly floured surface, roll out the dough into a 12x16 inch rectangle.

Spread softened butter evenly over the dough. Sprinkle with brown sugar and pumpkin pie spice.

Roll up the dough tightly. Cut into 12 equal rolls.

Place rolls in a greased 9x13 inch baking dish. Cover and let rise for 30 minutes.

Preheat oven to 350°F (175°C). Bake for 20-25 minutes, or until golden brown.

While the rolls are baking, make the glaze by whisking together cream cheese, powdered sugar, milk, and vanilla extract.

Let the rolls cool slightly before drizzling with glaze.