In a large bowl, sprinkle the yeast over the lukewarm water. Stir and allow to sit until frothy, 5-10 minutes.
Whisk in the milk, eggs, pumpkin puree, oil, brown sugar, salt, and pumpkin pie spice.
Mix in half of the bread flour until just combined, then the remaining bread flour. Once combined, fold in the all-purpose flour to bring together the dough.
On a lightly floured surface, knead the dough until smooth and elastic. Transfer to an oiled large bowl, turning to coat. Cover and allow to rest until doubled, about 1 hour.
Grease two 9x5 inch (23x13 cm) loaf pans (or four smaller 6 inch/15 cm pans). In a small bowl, combine the brown sugar and cinnamon for the filling.
On a lightly floured surface, punch down the dough and divide in half (or four equal pieces if using smaller pans). Roll one half into a 9x11 inch (23x28 cm) rectangle. Spread half of the butter across the top, leaving a 1/2 inch (1 1/4 cm) border around the edges.
Sprinkle with half of the cinnamon sugar mixture. Starting on the short-side, roll up the bread into a log. Seal the seam and sides by pinching together the dough. Place in the prepared loaf pan and repeat with other half of the dough.
Cover the pans and allow the loaves to rise until puffy and they reach the edges of the pans, 30-45 minutes.
Preheat oven to 375˚F (190˚C). Bake the loaves until golden and hollow sounding when tapped, about 30 minutes (closer to 20-25 minutes for smaller pans). Allow to cool before slicing.