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Place the yeast and warm water in the bowl of a stand mixer, stir to combine, and let sit until dissolved. Add canned pumpkin, milk, egg, oil, sugar, and salt in a medium bowl and whisk to combine. Add pumpkin mixture to the yeast and stir until combined. Add all the flour and stir until it forms a shaggy dough.
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Knead dough on low speed or by hand against the counter until smooth but slightly tacky (it should spring back when poked), about 8 to 10 minutes.
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Cover the bowl with a kitchen towel or plastic wrap. Let the dough rise in a warm spot until doubled in size, about 1 hour.
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Line a 9x13 baking dish with parchment paper and spray with cooking spray.
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To create rolls, dust work surface with a little all-purpose flour. Transfer dough to the work space. Using a knife, divide the dough into 12 equal portions. To shape into rolls, tuck the edges underneath to form a plump little package, then roll the dough against the counter or between your palms until round.
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Arrange the rolls inside the baking dish so that they are spaced a little apart. Let the rolls rise until they look pillowy and fill the pan, about 30 to 40 minutes. Meanwhile, arrange a rack in the middle of the oven and heat to 375 degrees Fahrenheit.
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Melt the butter and brush it over the risen dinner rolls. Sprinkle the top of each roll with pepitas. Bake the rolls in the heated oven until golden-brown, about 15 to 18 minutes. Grasping the parchment paper, lift the rolls from the baking dish to a wire rack and let sit until cool enough to handle.