In a small bowl, dissolve the yeast in the water for 5 minutes, or until the yeast is activated and bubbly. Set aside.
In a large bowl, mix the pudding and the milk together. Mix in the softened butter. Add the yeast/water mixture along with the salt, pumpkin pie spice and the flour to the pudding and butter. Mix until it is all combined. Use your hands to knead the dough together for 1-2 minutes.
Cover the dough and let it rise in a warm place for 25-30 minutes or until it doubles in size. Punch it down and let it rise again for another 25 minutes.
Roll out the dough into a 20x12" rectangle. Spread the butter to cover the dough. Sprinkle brown sugar, pumpkin pie spice and cinnamon over the top, then roll it up like a jelly roll. Cut it into 15 slices and place them into a 11x15" baking pan that has been sprayed with cooking spray.
Set the pan of cinnamon rolls in a warm place to rise for 20 minutes. After they are done rising, bake them at 350 degrees for 20 minutes until lightly browned.
While they are cooling, make the frosting. Beat the cream cheese and butter together until smooth. Add in the powdered sugar and cinnamon. Beat until well blended.
Spread the frosting over the warm cinnamon rolls.
The calories shown are based on the 15 sweet rolls, with 1 serving being 1 frosted roll. Since different brands of ingredients have different nutritional information, the calories shown are just an estimate. If you use less frosting, the calories will be less.