Heat milk in microwave for 30-60 seconds until it's about 95 degrees

Stir in yeast and set aside for about 10 minutes until it dissolves and turns foamy

Add to stand mixer with dough hook and beat in sugar, salt, butter and egg until dissolved

Slowly add in flour while continuing to mix on low speed until dough becomes stretchy and elastic

Remove dough to floured cutting board and kneed for a couple of minutes and then let rest for about 10-15 minutes

Roll out about the size of a sheet of paper

Mix together pumpkin and condensed milk

Spread over center of rolled out dough

Sprinkle with brown sugar and cinnamon

Roll up into a long tube

Use a sharp knife to cut into sections (10-12 pieces)

Place in slow cooker lined with parchment (I also sprayed parchment with nonstick spray)

Cover and cook on high for about 2 hours or until fully cooked through and lightly browned on top

Whisk together powdered sugar and milk (adding more milk if necessary to create a smooth pourable glaze)

Drizzle or spread over warm rolls

Store leftovers tightly covered in fridge

If you don't have a stand mixer you can also use a hand mixer or mix by hand