Preheat oven to 340F / 170C. Lightly grease a 9" round cake pan.
In a bowl, whisk together the flour, granulated sugar and salt. In another bowl, stir together the melted butter, brown sugar and cinnamon. Stir in the yogurt. Mix the wet ingredients into the dry and combine to make a soft dough.
Turn the dough out onto a well floured work surface. Sprinkle the top of it with a little more flour and roll out to a 12 x 10 inch rectangle.
For the filling
Mix all filling ingredients in a bowl.
Spread the filling over the dough and roll up from the long edge to form a log. With a serrated knife, gently cut into 8 even sections.
Place one section in the middle of the prepared cake pan and place the others around it. Brush the tops with milk to glaze.
Bake for 30-35 minutes or until golden. Allow to cool in the tin for a few minutes and then transfer to a wire rack.
Make the cream cheese frosting
Mix all ingredients until smooth. Drizzle the frosting over the pumpkin cinnamon rolls. These can be served warm or cold.