Preheat your oven to 375°F (190°C). Line a baking sheet with parchment paper or lightly grease it.
Make the filling: In a small bowl, stir together the pumpkin puree, brown sugar, cinnamon, pumpkin pie spice, salt, and vanilla until smooth.
Prepare the dough: Unroll the crescent dough and press the perforations together to form a rectangle. You can also use crescent dough sheets if you want to skip that step.
Spread the filling: Evenly spread the pumpkin mixture over the dough, leaving about 1/4 inch around the edges. Sprinkle with chopped pecans or chocolate chips if using.
Starting on the long side, tightly roll the dough into a log. You can chill the log in the freezer for about 15 minutes if you feel like it's too soft to cut into slices right away.
Use a serrated knife to gently slice into 1-inch pieces, or adjust to however thick you want these to be in the end. They will puff out a bit, but they won’t really puff up vertically very much.
Place the pinwheels cut side down on the prepared baking sheet. Bake for 12–15 minutes, or until golden brown and puffed.
Make the glaze: While the pinwheels cool slightly, whisk together powdered sugar and maple syrup, adjust texture with a bit of milk and stir until smooth. Drizzle over warm pinwheels.