Mix 1 cup warm milk, 3 tablespoons sugar, and 2 1/2 teaspoons active dry yeast in a bowl and let it sit for 10 minutes.

In a mixing bowl, combine 3 1/2 cups all-purpose flour, 4 tablespoons melted butter, 1 egg, 1 teaspoon salt, and the yeast mixture.

Knead the dough for about 10 minutes, adding a little more flour if necessary until it is slightly sticky but not sticking to your fingers.

Place the dough into a greased bowl, cover it, and let it rest for one hour.

Prepare the filling by mixing 3 tablespoons softened butter, 1/2 cup pumpkin puree, 1/4 cup brown sugar, 2 teaspoons cinnamon, 1/2 teaspoon pumpkin extract or pumpkin spice, and 1/2 teaspoon nutmeg until combined.

On a lightly floured surface, roll out the dough and spread the filling mixture evenly over it.

Fold the dough in half and cut it into bite-sized pieces, placing them into a greased baking dish.

Let the dough bites rest for an additional 30 minutes.

Preheat the oven to 350°F (175°C) and bake the bites for about 20 minutes.

While the bites are baking, prepare the icing by whisking together 2 ounces softened cream cheese, 2 tablespoons softened butter, 1/2 cup powdered sugar, and 2 tablespoons milk until smooth.

Remove the bites from the oven and add the icing while they are still hot.