Mix together the warm water and yeast. Let sit for about 10 minutes. You will see the yeast activate - tiny bubbles will form at the surface and the liquid will thicken slightly.

In a stand mixer with a paddle attachment, slowly combine yeast mixture with the remainder of the dough ingredients, milk through flour.

Place the dough in a well greased bowl and turn to coat. Cover tightly with plastic wrap. Allow to rise until about double in size - about an hour to an hour and a half.

Remove dough from bowl and knead for 1-2 minutes, adding flour so it doesn't stick to your hands or the countertop. Roll out into large rectangle.

Mix together filling ingredients - pumpkin pie spice through vanilla. Spread over the top of your rolled out rectangle. Mix together brown sugar and cinnamon. Sprinkle on top of your rectangle.

Roll up the dough, starting at the short end.

Slice your long roll into individual pumpkin cinnamon rolls. Cut a long piece of dental floss and place it under your roll. Cross the floss on top of your roll and pull in opposite directions. You will get nice clean cut slices every time. ;-)

Repeat slicing until you have about 15-18 pieces. Place sliced rolls in your glass casserole dish (sprayed with cooking spray). Make sure they are nice and snug. Cover with plastic wrap and let rise for another 30-60 minutes, or until almost doubled in size.

Bake in 375 F oven for 20-25 minutes or until nice and golden brown.

Mix together icing ingredients. Place icing on cinnamon rolls and serve warm.