In large stand mixer fitted with the dough hook attachment, stir milk, water, yeast and sugar together. Let it sit for 5-10 minutes to proof yeast. If mixture is foamy, then you can continue.

Stir in salt, egg, butter, pumpkin puree, cinnamon, and half the flour and mix. With mixer on, pour in remaining flour bit by bit until dough pulls away from the sides and is sticky but when touched doesn't really stick to your hands. Once you reach this stage, turn mixer on for 4-5 minutes to knead. Lightly spray a large mixing bowl. Put dough in the bowl and turn to make sure the dough is oiled. Let rise in a warm, draft-free place for about an hour, or until doubled in size.

Lightly grease a bundt or angel food cake pan with non stick cooking spray and set aside. Create a coating station by placing sugar and cinnamon together in a small bowl and melting the butter in another bowl. Punch down dough and remove from bowl. Cut dough into small pieces about 1 tablespoon in size. Roll in butter, coat in cinnamon sugar and place into prepared pan. Repeat until no dough remains. If there is extra butter or sugar, pour over the top of the dough pieces in the pan. Cover pan with a kitchen towel and let rise in a warm, draft-free area until doubled in size, about 45 minutes.

Preheat oven to 350 degrees. Bake monkey bread for 25 minutes or until the top begins to brown slightly. Remove from oven and cool about 10 minutes before turning onto a serving platter.

While monkey bread is cooling, prepare glaze by mixing powdered sugar, maple syrup, milk and vanilla together in a small bowl until smooth.

Remove warm pull aparts onto serving dish and drizzle with glaze. Serve warm.