Preheat the oven to 350 degrees. Lightly mist an 8x8 baking dish with cooking spray.

Place the flour, yogurt and ¼ teaspoon of vanilla extract in a bowl and stir it together with a fork until mostly combined. Remove the dough to a lightly floured surface and knead it until fully combined and form it into an oval ball. Use a rolling pin dusted with flour to roll the dough out into a flat rectangle (about 8” x 12”).

In a bowl, mix together the pumpkin, brown sugar and cinnamon until combined. Use a rubber spatula to spread the pumpkin mixture evenly across the surface of the dough. Once the pumpkin is spread, start with one of the shorter sides and roll the dough forward over the pumpkin until the dough is all rolled up into a log.

Cut the roll into 6 slices and place them spiral side up in the prepared baking dish. Press each roll down lightly to spread them out a little wider. Place the rolls in the oven and bake for 30 minutes. Remove and allow to cool for 5 minutes.

While the rolls are cooling, mix the powdered sugar, milk, and 1/8 teaspoon of vanilla extract until smooth. When the rolls have cooled a bit, drizzle the icing over the top of the rolls and serve.