Dissolve yeast into hot water. While yeast is dissolving combine sugar melted butter, salt and egg into a large bowl. Mix in two cups of flour and then mix in yeast + water mixture. Mix in remaining flour until dough is easy to handle. The dough should be elastic but not sticky. Sprinkle flour over a large surface and knead for 5-10 minutes. Place in a large well greased bowl (I sprayed mine with pam) and cover with two clean dish towels without touching the dough. Place in an unheated oven for an hour to double in size. 

Preheat oven to 350 degrees fahrenheit

Punch down the dough and roll out into a large rectangle. Spread pumpkin filling mixture evenly over rolled out dough and sprinkle with pecans (optional). Roll the dough and cut into slices. Place into cast iron pan / casserole dishes close together. Bake for 30 minutes or until golden brown. 

Mix together powdered sugar, vanilla bean, butter and slowly add in milk until you have reached your desired consistency.