In a large bowl, combine warm water, warm milk, and sugar. Sprinkle the yeast over the top and let it sit for about 5 minutes, or until it becomes frothy.
Add the melted butter, pumpkin puree, and vanilla extract to the yeast mixture. Stir until combined.
In a separate bowl, whisk together the flour, salt, cinnamon, nutmeg, and ginger. Gradually add the dry ingredients to the wet ingredients, mixing until a dough forms.
Knead the dough on a floured surface for about 5-7 minutes, until smooth and elastic. Place the dough in a lightly oiled bowl, cover with a damp cloth, and let it rise in a warm place for about 1 hour, or until doubled in size.
Make the Cinnamon Filling:
In a small bowl, combine the brown sugar, cinnamon, ginger, nutmeg, and cloves.
Once the dough has risen, punch it down and roll it out on a floured surface into a large rectangle (about 12×18 inches).
Spread the softened butter evenly over the dough, then sprinkle the cinnamon-sugar mixture over the butter.
Roll and Cut the Dough:
Starting from one edge, tightly roll up the dough into a log. Pinch the seam to seal it.
Slice the roll into 12 equal pieces and place them in a greased 9×13-inch baking dish, leaving a little space between each roll.
Cover the rolls with a damp cloth and let them rise for another 30 minutes.
Bake the Rolls:
Preheat your oven to 350°F (175°C). Bake the rolls for 25-30 minutes, or until golden brown and cooked through. Once done, remove from the oven and let them cool for a few minutes.
Make the Cream Cheese Icing:
In a medium bowl, beat together the cream cheese and butter until smooth and creamy.
Gradually add the powdered sugar and vanilla extract, continuing to beat until the icing is smooth.
If the icing is too thick, add milk one tablespoon at a time until you reach your desired consistency.
Frost and Serve:
Drizzle the cream cheese icing over the warm cinnamon rolls. Serve immediately, and enjoy the heavenly fall flavors!
Serving and Storage Tips:
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