In a large mixing bowl, combine 2 1/4 cups all-purpose flour, 1/4 cup granulated sugar, active dry yeast, pumpkin pie spice, and salt. Whisk briefly to combine.

In a separate small bowl, whisk together the warm milk, pumpkin puree, and 1/4 cup melted butter until well combined.

Pour the wet ingredients into the dry ingredients. Mix with a spoon or your hands until a shaggy dough forms. Turn the dough out onto a lightly floured surface and knead for 3-5 minutes until smooth and elastic. If the dough is too sticky, add a little more flour, 1 tablespoon at a time. Cover the dough loosely with plastic wrap or a clean kitchen towel and let it rest for 10 minutes while you prepare the filling.

In a small bowl, whisk together 1/4 cup melted butter, 1/4 cup granulated sugar, and ground cinnamon until well combined.

Preheat your oven to 375°F (190°C). Line two baking sheets with parchment paper.

On a lightly floured surface, roll out the rested pumpkin dough into a large rectangle, approximately 18x10 inches (45x25 cm).

Evenly spread the cinnamon-sugar butter filling over the entire surface of the dough rectangle.

Fold the dough in half lengthwise, so it becomes a long, skinny rectangle, about 18x5 inches (45x12.5 cm).

Using a pizza cutter or sharp knife, cut the dough into 12-14 strips, each about 1 inch (2.5 cm) wide.

Take each strip and gently twist it several times, then place it on the prepared baking sheets, leaving about 1 inch between each twist.

Bake for 15-20 minutes, or until the twists are golden brown and cooked through. Halfway through baking, you may need to rotate the baking sheets for even browning.

While the twists are baking, prepare the glaze: In a small bowl, whisk together the powdered sugar, 2 tablespoons of milk, and vanilla extract until smooth. Add more milk, a tiny bit at a time, if a thinner consistency is desired.

Once the pumpkin twists are out of the oven, let them cool on the baking sheets for a few minutes. Then, drizzle or brush the vanilla glaze over the warm twists. Serve warm or at room temperature.