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