Combine warm water, yeast, and teaspoon of sugar in small bowl. Stir until yeast is dissolved. Let stand until froth doubles.
In mixer fitted with dough hook, combine milk, eggs, pumpkin, margarine, 1/2 sugar, nutmeg, salt, and cloves. Mix until smooth (don't have a mixer? You can still make these. I first used a wooden spoon until it got to be too hard and then I started using my hands. You have to knead it for a while to get that smooth consistency, but it can be done).
Add four cups flour to the mixing bowl. Pour frothed yeast mixture on top of flour. Knead about 5 minutes, adding flour 1/2 cup at a time until dough barely begins to clean the sides of the mixing bowl. Dough should be smooth and moist, but not sticky.
Spray a bowl with nonstick cooking spray. Place dough in greased bowl. Cover with a wet towel, or plastic wrap sprayed with non-stick cooking spray. Allow dough to raise until doubled, or about one hour.
While dough is raising, prepare filling. Place room temperature butter and pumpkin puree in small bowl. Using electric mixer, beat until mixture is smooth. In another small bowl, combine brown sugar and cinnamon, set both bowls aside.
Pour dough out on slightly floured surface. Roll into a rectangle 16x21 inches, dough should be about 1/4 inch thick. Spread the pumpkin/butter mixture over rectangle. Next, evenly spread the sugar/cinnamon mixture on top, slightly pressing it into the dough.
Roll up long side of the dough, forming a long tube. Cut tube with a sharp knife, about every two inches, making 12 rolls. Place rolls in lightly greased 9x13 inch baking pan. Cover and let rise until the dough has nearly doubled, about 30 minutes.
Preheat oven to 400 degrees.
Bake rolls in oven until golden brown, about 15-20 minutes While rolls are baking, beat together cream cheese, butter, powdered sugar, and vanilla to make frosting. Spread frosting on warm rolls before serving.