Follow these steps to create your own batch of Pumpkin Cinnamon Roll Cookies:

Preparing the Cookie Dough:

1. Preheat your oven to 350°F (175°C) and line a baking sheet with parchment paper.
2. In a medium bowl, whisk together the flour, baking powder, baking soda, and salt. Set aside.
3. In a large mixing bowl, cream the butter, granulated sugar, and brown sugar using an electric mixer until light and fluffy.
4. Add the egg and vanilla extract to the butter mixture, and beat until well combined.
5. Mix in the pumpkin puree until fully incorporated.
6. Gradually add the dry ingredients to the wet ingredients, mixing until a smooth dough forms. Chill the dough in the refrigerator for 30 minutes.

Preparing the Cinnamon Filling:

7. In a small bowl, combine the melted butter, brown sugar, cinnamon, and pumpkin pie spice. Stir until the mixture is smooth.

Assembling the Cookies:

8. On a lightly floured surface, roll out the chilled dough into a rectangle approximately 1/4 inch thick.
9. Spread the cinnamon filling evenly over the dough, leaving a small border on all sides.
10. Starting from one of the long edges, roll the dough into a tight log. Wrap the log in plastic wrap and refrigerate for an additional 15 minutes.
11. Remove the log from the refrigerator and slice into 1/2-inch thick rounds.
12. Place the cookie slices onto the prepared baking sheet, spacing them about 2 inches apart.
13. Bake for 10-12 minutes, or until the edges are lightly golden. Allow the cookies to cool on the baking sheet for 5 minutes before transferring them to a wire rack to cool completely.

Preparing the Glaze:

14. In a small bowl, whisk together the powdered sugar, milk, and vanilla extract until smooth. Adjust the consistency by adding more milk if necessary.
15. Drizzle the glaze over the cooled cookies using a spoon or piping bag.