In a large mixing bowl stir together 1 1/2 cups of the flour and the yeast; set aside.
In a medium saucepan heat and stir milk, water, butter, sugar and salt just until warm (120 deg to 130 deg F) and butter almost melts.
Add milk mixture to dry mixture; add egg. Beat with an electric mixer on low to medium speed for 30 seconds, scraping side of the bowl constantly. Beat on high speed for 3 minutes. Stir in canned pumpkin. Using a wooden spoon, stir in as much of the remaining flour as you can.
Turn dough out onto a lightly floured surface. Knead in enough of the remaining flour to make a moderately stiff dough that is smooth and elastic (6 to 8 minutes total). Shape dough into a ball. Place in a lightly greased large bowl; turn once to grease surface. Cover with plastic wrap; refrigerate overnight.
Punch dough down. Turn dough out onto a lightly floured surface. Divide dough in half. Cover; let rest for 10 minutes.
Meanwhile, lightly grease 2 baking sheets. Divide each half of dough into 8 pieces. On a lightly floured surface flatten each piece into a 3 1/2-inch round. For each roll, place the round of dough in the palm of your hand. Place 1 generous Tbsp of Maple Streusal Filling in the center of each round. shape dough into a ball by pulling the edges of the dough up and over the streusal, pinching edges of dough o seal. Place rolls, smooth side up, on prepared baking sheets. Cover; let rise in a warm place until nearly doubled in size (30 to 40 minutes).
Preheat oven to 375 deg F. Bake rolls for 12 to 14 minutes or until golden brown. Immediately remove rolls from baking sheets. Cool on wire racks.
In a medium mixing bowl combine all ingredients except butter. Stir to combine. Stir in the melted butter until combined.
To make ahead:
To reheat rolls from room temperature, wrap in foil and warm in a 375 deg F oven about 7 minutes or until heated through. To reheat frozen rolls, wrap and warm in a 375 deg F oven for about 20 minutes or until warm.