Preheat your oven to 375°F (190°C) and prepare a 9×9-inch baking pan by lining it with foil and spraying it with non-stick cooking spray.

Open the two tubes of refrigerated cinnamon roll dough and slice each roll into 9 equally sized pieces. Arrange the dough pieces in the prepared baking pan.

In a medium mixing bowl, whisk together 3 large eggs, 3/4 cup pumpkin puree, and 1/2 cup milk until smooth. Add brown sugar, granulated sugar, pumpkin pie spice, vanilla extract, cinnamon, and salt.

Evenly pour the egg and pumpkin mixture over the arranged cinnamon roll pieces in the baking pan.

Drizzle the icing over the mixture evenly. Warm icing in the microwave if necessary.

Place the baking pan on a baking sheet and bake in the preheated oven for about 40 minutes until golden brown.

Once baked, allow it to cool for about 10 minutes. Prepare the frosting by whisking together confectioners' sugar and cream or milk until smooth.

Drizzle the prepared frosting over the warm Pumpkin Cinnamon Roll Bake and serve warm, optionally with vanilla ice cream or whipped topping.