Add the milk, oil, and sugar to a large saucepan or dutch oven. Place over medium heat, stirring often, until steaming. Remove from heat and allow to cool to 105 to 115 degrees.
Sprinkle the yeast on top of the cooled milk mixture and allow the yeast to sit for 5 to 10 minutes until bubbly.
Stir the pumpkin puree into the milk mixture.
In a large mixing bowl, add in the flour, baking soda, baking powder, and spices. Whisk to combine.
Add the dry ingredients into the pumpkin and milk mixture and stir until combined.
Cover the saucepan or dutch oven with a kitchen towel and place in a warm, draft-free place for about 1 hour or until doubled in size. It can sometimes take up to two hours for my dough to double.
Preheat the oven to 375 degrees. Prepare a 9x13-inch baking dish by pouring the ¼ cup of melted butter into the dish and tilting the dish to coat all sides. You can also use a pastry brush to evenly spread the melted butter.
Turn out the dough onto a lightly floured surface and sprinkle the top with flour. Fold the dough 2 to 3 times and pat it into a rectangle shape.
Roll the dough into a rectangle that's roughly 18 inches by 24 inches.
Add the brown sugar, sugar, cinnamon, ginger, and nutmeg to a small bowl. Using a fork or spatula, stir to combine.
Coat the dough with the ½ cup of melted butter.
Sprinkle the brown sugar and spice mixture on top of the butter and top with ¾ cup of the chopped pecans.
Starting on the long side, roll the dough up, working it tightly but without pulling the dough too much.
Seal the seam by pinching the long edge into the roll of dough.
Cut the dough into 12 equal slices. I do this by cutting the dough in half, cutting those halves in half, and then the quarters into three slices each.
Cover the pumpkin cinnamon rolls and allow them to rise in a warm place for 20 to 30 minutes.
Bake the cinnamon rolls for 15 to 18 minutes or until the middle is cooked through and the edges are golden brown.
Cream Cheese Frosting
Add the cream cheese to a large bowl. Beat on medium until smooth.
Add in the powdered sugar, milk, butter, and salt. Beat until combined and fluffy.
While the rolls are still hot, slather with the cream cheese frosting.