Amish Pumpkin Cinnamon Rolls with Caramel Icing

INGREDIENTS

• For Dough:
• 1/3 cup milk or soymilk
• 2 tablespoons butter
• ½ cup canned pumpkin or mashed cooked pumpkin
• 2 tablespoons granulated sugar
• ½ teaspoon salt
• 1 large egg, beaten
• 1 package active dry yeast
• 1 cup unbleached all-purpose flour
• 1 cup bread flour
• For Filling:
• 1/3 cup brown sugar, packed
• 1 tsp ground cinnamon
• 2 tablespoons melted butter
• For Icing:
• ¼ cup (4 tablespoons) butter
• ½ cup brown sugar, packed
• 2 tablespoons milk
• ¼ teaspoon vanilla extract
• dash of salt
• ½ to ¾ cup sifted powdered sugar