Preheat Oven and Prep Pan: Preheat your oven to 400°F (200°C). Generously grease each cavity of a muffin pan with softened butter to prevent sticking.
Make the Pumpkin Cheesecake Filling: In a large bowl, combine the cream cheese, pumpkin puree, brown sugar, egg, vanilla, flour, and pumpkin pie spice. Whisk until the mixture is smooth and free of clumps. Set aside.
Prepare the Streusel Topping: In a separate bowl, combine the flour, brown sugar, and pumpkin pie spice. Cut in the cold butter cubes using a pastry cutter or fork until the mixture resembles small sandy clumps. Set aside.
Assemble the Cinnamon Roll Muffins: Place one cinnamon roll in each muffin cavity, pressing it to fit the base and up the sides to create a well. Spoon 1-2 tablespoons of the pumpkin cheesecake filling into each cinnamon roll well.
Top with Streusel: Generously sprinkle the streusel topping over each cinnamon roll muffin, covering most of the surface.
Bake: Lightly cover the muffin pan with aluminum foil. Bake for a total of 15-20 minutes, removing the foil halfway through. Bake until a toothpick inserted into the center of the cheesecake filling comes out clean. If the tops begin to brown too quickly, cover with foil again.
Make the Icing: While the cinnamon rolls bake, make the pumpkin spice icing. In a medium bowl, combine melted butter, powdered sugar, milk, vanilla, and pumpkin pie spice. Whisk until smooth.
Cool and Drizzle: Let the cinnamon rolls cool for at least 15 minutes in the pan. Once cooled, drizzle with the pumpkin spice icing. Serve and enjoy!