Preheat oven to 190°C (375°F) and line a baking sheet with parchment paper.
In a large bowl, combine flour, baking powder, baking soda, salt, and optional cinnamon.
Stir in Greek yogurt and pumpkin purée until a soft, slightly sticky dough forms. Do not overmix.
Lightly flour your surface and roll dough into a rectangle about 1–1.5 cm thick.
Brush with melted butter, then sprinkle evenly with brown sugar and cinnamon.
Cut into strips about 2–3 cm wide and place on prepared baking sheet.
Bake for 15–18 minutes, until golden and puffy.
While baking, whisk together cream cheese, powdered sugar, vanilla, and milk until smooth and pourable.
Drizzle glaze over warm cinnasticks and serve immediately.
