In the bowl of a stand mixer, using the paddle attachment, combine 1 cup whole wheat pastry flour, 1 cup bread flour, sugar, yeast, and salt.
In saucepan or microwave safe dish, heat milk and butter until warm (120°–130°F). Add heated milk and butter to flour mixture. Mix in egg. Add pumpkin puree and vanilla. Blend at low speed until moistened. Beat 3 minutes at medium speed.
Switch to the dough hook and mix in the remaining flour a little at a time, to make a soft dough, adding more or less flour as needed. Knead the dough for 5 minutes. Place in greased bowl, turning to grease top. Cover; let rise in warm place until double, about 1 to 1 ½ hours.
While the dough is resting, make the cinnamon sugar filling. Grease 12 muffin cups with butter.
Punch down the dough. Divide dough in half and keep remaining half covered with plastic wrap. On a floured surface, roll the dough into a 12 inch square. Spread the butter evenly over the dough with your fingers or a rubber spatula. Sprinkle half of the cinnamon sugar filling on top of butter. Press the cinnamon sugar into butter.
Cut dough in to six strips, each 2 inches wide with a pizza cutter. Stack strips, buttered sides up, and cut crosswise into six 2 inch pieces with bench scraper.
Carefully place each piece, cut edges up, in a muffin cup. Separate outer layers of each roll to fan outward. Make more rolls with remaining dough in same manner.
Loosely cover muffin pan with plastic wrap and let the dough rise in a warm place until doubled, 30 to 60 minutes.
Preheat oven to 375°F
Bake 18 to 22 minutes until rolls are golden brown. Cover the top with foil if rolls are browning too quickly. Transfer to a wire rack and let cool in the pan for 10 minutes. While bread is cooling, make the icing.
In a mixing bowl, beat cream cheese until smooth. Add maple flavoring and beat until incorporated. Add powdered sugar and beat until smooth. Add the milk slowly, a little at a time until the icing is the desired consistency.
Drizzle icing over warm rolls or serve in bowls for dipping. Serve warm or at room temperature.