Warm the milk in a bowl in the microwave for just about 1 minute until it is reaches 115ºF. Pour it into the bowl of a stand mixer. Sprinkle the yeast over the top and allow it to activate for 3-4 minutes.
Add in the sugar, pumpkin, softened butter, pumpkin pie spice, cinnamon and vanilla. Use the beater blade on low speed to mix this just until combined. About 30 seconds.
Add in 2 cups of flour and the salt. Mix about 30 seconds until combined. Then add in the remaining 2 cups of flour. Mix just until combined, scraping the sides of the bowl as needed. Allow the mixture to rest for 5 minutes.
Remove the beater blade and place the dough hook on the stand mixer. Knead the dough for 5-7 minutes on low speed. Add more flour a tablespoon at a time as needed during kneading. The dough should still feel sticky and tacky to the touch, but it should not be so wet that it sticks all over your hands. As the dough turns in the stand mixer bowl, it will pull away from the sides, but may stick to the bottom slightly. This is ok and shows the dough is not too dry.
Place the dough in a greased bowl and cover it with plastic wrap or a towel. Allow the dough to rise in a warm place until it has almost doubled, about 30 minutes.
Split the dough into 12 balls. Shape them into smooth round balls.
Place in a greased 9x13 pan glass pan. Cover and rise in a warm place for 15-20 minutes while the oven is heating. Preheat the oven to 375ºF.
Bake for 18-20 minutes or until lightly browned. Brush with butter when they come out of the oven.
Store in an airtight container at room temperature for up to 3 days. The rolls also freeze well for up to 6 weeks.
Refer to the article above for more tips and tricks.
The calories shown are based on the cake being cut into 9 pieces, with 1 serving being 1 slice of cake. Since different brands of ingredients have different nutritional information, the calories shown are just an estimate. **We are not dietitians and recommend you seek a nutritionist for exact nutritional information. The information in the nutrition box are calculated through a program and there is room for error. If you need an accurate count, I recommend running the ingredients through your favorite nutrition calculator.**