In mixing bowl, whisk together warm milk and yeast. Let set for 5 minutes.
Whisk in eggs, pumpkin, oil and brown sugar.
Mix in flour, salt and pumpkin pie spice until ingredients are just incorporated.
Cover and let rise for 30 minutes.
Heat griddle or non-stick pan to medium-high heat. Spray will cooking spray or bit of canola oil.
Drop about 1/4 cup batter on to hot griddle and let cook until small bubbles form on surface. Flip and let cook for another 1-2 minutes, or until lightly golden brown.
Repeat with remaining batter.
Whisk together glaze ingredients, adding more/less milk to achieve desired consistency.
Drizzle glaze over warm pancakes and serve immediately.