Preheat the oven to 350°F (175°C) and prepare a bundt pan with baking spray.

Combine the brown sugar, butter, pure pumpkin, cream cheese, and vanilla in a medium saucepan over medium heat. Whisk until smooth and creamy, and then set it aside.

Cut the cinnamon rolls into quarters and place them into a zip-top bag. Add granulated sugar and pumpkin pie spice, then shake gently to coat evenly.

Layer half of the coated cinnamon roll pieces in the prepared bundt pan. Carefully pour half of the pumpkin mixture over them.

Repeat by adding the remaining cinnamon roll pieces and topping them with the rest of the pumpkin mixture.

Bake for 35-40 minutes, or until the dough is cooked through and golden brown.

Cool for 15 minutes in the pan before inverting it onto a wire rack.

Prepare the glaze by whisking together powdered sugar, vanilla, milk, and ground cinnamon. Drizzle this mixture over the warm monkey bread.