In a dutch oven or deep pot, whisk together the milk, oil, and sugar. Cook over medium heat, stirring often, until steaming.
Remove from heat and allow to cool to 105 to 115 degrees. Sprinkle the milk with yeast and allow the yeast to bloom for 5 minutes.
Stir the pumpkin into the milk mixture. Meanwhile, whisk together the flour, baking soda, baking powder, and dry seasonings. Add the flour into the pumpkin until combined.
Cover the dutch oven or pot, place in a warm, draft-free place for about 1 hour or until doubled in size. Preheat the oven to 375 degrees. Prepare a 9x13 baking dish by pouring the melted butter into the dish and turning the dish to coat all sides.
Turn out the dough onto a lightly floured pastry mat and sprinkle with flour. Fold the dough 2 to 3 times and pat into a rectangle. Roll the dough until about 18 inches by 24 inches.
To prepare the filling, use a fork or whisk to mix the brown sugar, sugar, cinnamon, ginger, and nutmeg together. Coat the dough with the melted butter and then sprinkle with the brown sugar mixture. Top the filling with 3/4 cup of the chopped pecans.
Starting on the long side, roll the dough up, working it tightly but without pulling the dough too much. Seal the long edge by pinching it shut. Cut the dough into 12 even slices by cutting the dough in half, cutting those halves in half and then the quarters into three slices each.
Allow the pumpkin cinnamon rolls to rise in a warm place for 20 to 30 minutes. Bake the pumpkin cinnamon rolls for 15 to 18 minutes or until the middle is cooked through and the edges are golden brown.