The generalized Miller–Morita–Mumford classes of a manifold bundle with fiber M depend only on the underlying τM-fibration, meaning the family of vector bundles formed by the tangent bundles of the fibers. This motivates a closer study of the classifying space for τM-fibrations, Baut(τM), and its cohomology ring, i.e., the ring of characteristic classes of τM-fibrations. For a bundle ξ over a simply connected Poincaré duality space, we construct a relative Sullivan model for the universal ξ-fibration with holonomy in a given connected monoid, together with explicit cocycle representatives for the characteristic classes of the canonical bundle over its total space. This yields tools for computing the rational cohomology ring of Baut(ξ) as well as the subring generated by the generalized Miller–Morita–Mumford classes. To illustrate, we carry out sample computations for spheres and complex projective spaces. We discuss applications to tautological rings of simply connected manifolds and to the problem of deciding whether a given τM-fibration comes from a manifold bundle.