Preheat oven and prepare the pan. Preheat your oven to 375º. Spray the cinnamon roll pan with non-stick cooking spray. Set aside.
Prepare the pumpkin filling. In a small bowl combine the pumpkin puree, brown sugar, and pumpkin pie spice.
Spread pumpkin filling onto cinnamon rolls. Open cinnamon rolls according to package instructions. Set the icing aside. On a clean surface, carefully unroll the cinnamon rolls at the seam. Spread the pumpkin filling evenly across the surface. Gently roll back up.
Slice and place into the pan. Using a serrated knife, carefully slice cinnamon rolls along the precut lines. Place cinnamon rolls into the pan in a circle with the last roll going into the middle.
Bake. Bake for 11-14 minutes or until the cinnamon rolls are golden brown.
Top with icing. Place the icing in spoon fulls on top of the cinnamon rolls. Using a pastry brush or spoon, spread the icing as it melts. Serve hot!