In a large saucepan, combine whole milk, vegetable oil, and granulated sugar. Heat until hot but not boiling, then remove from the stove. Sprinkle yeast over the liquid and let sit until foamy, about 5 minutes. Stir in pumpkin puree until combined.

In a separate bowl, combine 4 cups of flour with cinnamon, nutmeg, and ginger. Sprinkle into the saucepan and stir until just combined. Cover with a dish towel and set in a warm place for 1 hour.

After 1 hour, stir in remaining flour, baking soda, baking powder, and salt until combined.

Preheat oven to 350 degrees. Grease two 9-inch round baking dishes.

Turn out dough onto a well-floured surface, press into a rectangle, and roll into a large rectangle about 12x24 inches.

Drizzle melted butter over the dough, spreading it with fingers. Mix granulated sugar, brown sugar, cinnamon, nutmeg, and ginger, then sprinkle over the buttered dough. Top with chopped pecans.

Start at the top and roll the dough tightly into a log. Pinch the seam and turn the roll seam-side down. Slice 1.5-inch thick slices and place in greased pans, cover, and let rise for 30 minutes.

Bake for 25 minutes or until golden brown on top and around the edges.

While rolls bake, make frosting by combining cream cheese, powdered sugar, and milk in an electric mixer. Beat until smooth and fluffy. Add butter, salt, and maple extract if using, and beat until combined.

Ice the rolls immediately after baking and sprinkle with chopped pecans. Let cool for 15 minutes before serving.