1. In a mixing bowl, combine flour, yeast, and sugar.
2. Add warmed milk, melted butter, eggs, and salt. Mix until a dough forms.
3. Knead the dough for about 10 minutes until smooth and elastic.
4. Place the dough in a greased bowl, cover, and let it rise for 1 hour or until doubled in size.
5. In another bowl, mix pumpkin puree, brown sugar, pumpkin pie spice, and melted butter for the filling.
6. Roll out the dough into a rectangle, spread the filling evenly over the dough.
7. Roll the dough into a log and cut it lengthwise. Twist the two halves together and place in a greased loaf pan.
8. Preheat the oven to 350°F (175°C). Let the dough rise for another 30 minutes.
9. Bake for 45 minutes or until golden brown. Let cool before slicing.