Prepare your pumpkin bread or cake mix according to the package instructions. You can always make your own from scratch too. Bake in a 9" x 5" loaf pan.
Freeze your pumpkin loaf for a couple of hours or until hard so it's easier to cut without falling apart.
Remove from freezer and cut a rectangle out from the top. Scoop out excess cake from the inside and also from underneath the top you just cut out. Save those to eat as a snack.
Spread your pumpkin ice cream inside the opening, smooth with a spatula.
Put top back on and freeze loaf for a couple of hours.
Prepare your cream cheese frosting. Add your cream cheese, butter, milk, and vanilla extrat in a large mixing bowl. Mix on medium speed for a few minutes until frosting is soft and fluffy.
Take your pumpkin loaf out of the freezer, spread frosting on top. You'll have extra frosting leftover. Reserve for another use.
Sprinkle top with chopped pecans (optional).
Store your pumpkin ice cream cake in the freezer in an air tight container.