Preheat oven to 350F. Lightly grease a 12-count muffin pan with cooking spray. Set aside.
Unroll crescent sheet onto a flat surface. I like to place a sheet of parchment paper on my counter and then spread dough on top of it so that it aids in easy rolling, cutting, and removal to baking pan. If using crescent roll dough, unroll into one large rectangle and press perforations to firmly seal.
Spread pumpkin evenly over dough, almost to edges. Sprinkle pumpkin pie spice, cinnamon, and brown sugar over pumpkin.
Starting with the long edge, roll dough over mixture until it forms a log. Using a serrated knife, cut dough into 6 pieces. Discard ends. Place rolls, cut side down, into muffin tin. Bake for 18-22 minutes, or until rolls are slightly browned on top.
While rolls are baking, prepare cream cheese frosting. In a medium bowl, beat cream cheese, melted butter, and vanilla bean paste/extract until smooth and creamy.
Add powdered sugar and milk and beat until no lumps remain. If needed, add more milk to thin glaze. Drizzle or spread onto warm rolls.