Heat milk in microwave for 40 seconds or until it's warm to the touch (about 110 degrees).
Pour milk into the bowl of an electric mixer and sprinkle with yeast.
Add sugar, eggs and melted butter. Whisk until combined.
Whisk in pumpkin puree and pumpkin pie spice.
Stir in flour and salt with a wooden spoon until dough begins to form.
Knead dough by hand on a floured surface for 10 minutes or use an electric mixer with a dough hook attachment on medium speed for 8 minutes.
If dough sticks to the counter/bottom of the bowl add an additional 2 Tablespoons of flour and continue kneading until a soft, slightly sticky ball forms.
Place dough in an oiled bowl, cover with plastic wrap and a dry, warmed towel and let it rise for 1 hour to 1.5 hours until doubled in size.
On a lightly floured surface, roll dough with a rolling pin until it is a 20 x 12 inch rectangle.
Spread softened (not melted) butter over the surface of dough. Combine brown sugar and cinnamon and sprinkle over buttered dough then press cinnamon sugar mixture into the butter with your hands.
Using a pizza cutter, slice dough into 12 equally sized pieces. Form 4 stacks of dough, each with 3 slices then cut each stack in half. If edges are uneven, trim with pizza cutter.
Line a 9 x 5 loaf pan with parchment paper. Turn the bread dough stacks on their side then squeeze them all into the loaf pan like an accordion.
Cover pan with a warm, dry towel and let dough rise for 30 minutes.
Preheat oven to 350 degrees.
After the second rise is complete, remove towel from pan and bake for 35 to 40 minutes. Loaf is done when the top is golden brown.
Cool pumpkin bread in the loaf pan for 10 minutes then use parchment paper to lift out and remove. Drizzle with glaze while the loaf is still warm.