Combine warm water and yeast in a small bowl. Sprinkle coconut sugar on top and let the mixture sit for 5 minutes, allowing the yeast to proof.
Using the paddle attachment, combine the pumpkin puree, melted vegan butter, and maple syrup in a stand mixer. Add the proofed yeast and mix until well incorporated.
In another bowl, combine the flour and salt. Slowly add the dry ingredients to the pumpkin mixture and combine with the mixer's hook attachment.
Mix and knead for a few minutes. If the dough seems sticky, add a bit of flour.
Place the dough in a clean bowl sprayed with non-stick spray. Cover and allow to rise for 1 hour.
Meanwhile, mix the filling ingredients in a food processor until smooth.
Once the dough has nearly doubled, roll it out to a rectangle about 18 x 12 inches and 1/4 inches thick on a floured surface.
Spread the filling on the dough and roll tightly, starting on the longer side.
Slice into rolls at about 1 to 1 and 1/2 inches thick each. Place them on a 9 x 13 baking dish.
Preheat the oven to 350°F.
Cover and allow the vegan pumpkin cinnamon rolls to rise for about 15 minutes.
Bake for 28 to 35 minutes or until the tops are dry and the rolls are baked through.
For the cinnamon glaze, whisk the ingredients together in a small bowl. If you want the glaze to be thinner, add more non-dairy milk.
Drizzle the glaze over the cinnamon rolls. Enjoy!