Dissolve yeast in warm milk, let sit for 5-10 minutes. Meanwhile, combine sour cream, vegetable oil, egg, 1/3 cup brown sugar, and salt in a stand mixer bowl.
Add milk-yeast mixture and mix with a whisk attachment. Incorporate pumpkin puree, nutmeg, ginger, cloves, and vanilla.
Switch to the hook attachment and add 2 cups of flour, mixing until combined. Gradually add the remaining 1 1/4 cups of flour until you have a soft dough.
Knead the dough until smooth and elastic, about 5 minutes, adding extra flour if needed. Transfer to an oiled bowl, cover with plastic wrap, and let rise in a warm place for about 1 1/2 hours, until doubled in size.
In a small bowl, whisk together 3/4 cup brown sugar and cinnamon. Set aside. Preheat your oven to 375°F during the last 10 minutes of rising.
Roll the dough into an 18x12-inch rectangle. Brush with 1/4 cup melted butter and sprinkle with the cinnamon sugar mixture.
Roll up the dough tightly from the long side and cut into 12 even rolls. Place them in a buttered baking dish.
Cover loosely with plastic wrap and let them rise for 40 minutes. Then, uncover and bake for 20 minutes until golden and no longer doughy in the center.
While the rolls are cooling slightly, prepare the cream cheese frosting by whipping cream cheese and softened butter until fluffy. Add vanilla, powdered sugar, and milk as needed for your desired consistency.
Drizzle or spread the frosting over the warm rolls. Store any leftovers in an airtight container. To enjoy them warm later, reheat in the microwave for about 15-20 seconds.