Milk + Yeast: Warm the milk to 110-115 degrees F in the microwave or on the stove (no more than 120 degrees F, or it could kill the yeast). Then add the ¼ cup of maple syrup and stir to combine. Then add the yeast, stir, and set aside for 5 minutes to activate the yeast. After 5 minutes, the mixture should begin frothing. If not, wait an additional 5 minutes. If no frothing occurs, you need to start over because the yeast is bad.
Make the dough: In a large mixing bowl, combine the gluten-free flour, psyllium husk powder, and salt. Whisk to combine. Then add the milk mixture, pumpkin puree, and 4 tablespoons of melted butter. Stir with a spatula or wooden spoon until well combined. Then wait 5 minutes for the dough to solidify.
Knead: On a lightly floured surface with lightly floured hands, knead the dough for about 5 minutes. This adds a little stretch to the dough to help it rise nicely without cracking. When finished, the dough should be soft, smooth, and uniform with a little spring back when poked with a finger. If the dough is too soft, place it in the refrigerator for up to 30 minutes before trying again.
Filling: Using a lightly floured rolling pin, roll the dough into a rectangle that is about 10 inches by 12 inches. Use your fingers or a silicone brush to smooth the 3 tablespoons of melted butter across the dough, reaching the edges on all except for one of the short sides. On that side, leave a 1-inch margin with no butter or filling. Whisk together the brown sugar and pumpkin pie spice before sprinkling it evenly over the butter.
Roll and rise: Along the longer side (so dough strips are 12 inches long), cut 7 strips of dough that are about 1 ½ inches wide. Roll them snugly from the sugared edge to the bare edge and tuck the end underneath the roll. Arrange the rolls evenly in an 8 or 9 inch cake pan that has been greased or lined with parchment paper. Cover with a tea towel and leave in a warm place for 1 - 1 ½ hours or until the rolls double in size.
Bake: Preheat the oven to 325 degrees F. Bake the rolls on a middle oven rack for 35-45 minutes or until the internal temperature of a pumpkin cinnamon roll is between 190 and 200 degrees F. Remove from the oven and allow to cool for 10 minutes.
Frosting: Meanwhile, make the frosting by adding the 4 tablespoons of softened butter, cream cheese or coconut cream, vanilla extract, and 1 ½ tablespoons of maple syrup to a bowl. Mix well with an electric mixer. Then add the powdered sugar 1 cup at a time and mix in. Add to the top of the cinnamon rolls and enjoy!