Heat your oven to the temperature specified on the cinnamon roll packaging. Grease a cake pan with butter.

Remove the cinnamon rolls from the packaging and carefully unroll them, so that they lay flat with the cinnamon facing up.

Spread a layer of pumpkin pie filling over, and roll the dough back up. I used about 1/3 of the pan of pie filling.

Separate the cinnamon buns, and arrange them in the cake pan.

Bake according to the directions on the packaging.

Meanwhile, mix up the icing. Combine the cream cheese, powdered sugar, milk, and vanilla in the bowl of an electric mixer and mix on a medium speed until combined.

Once the cinnamon rolls have baked, top with the icing and serve.