In a large bowl, mix yeast with ¼ cup of lukewarm milk and let it sit for 5 minutes.
Add flour, sugar, salt, cinnamon, remaining milk, eggs, pumpkin puree, and softened butter, then stir until combined.
Knead the dough until it is soft, slightly sticky, and elastic, then transfer it to an oiled bowl, cover, and let it rise for 90 minutes.
Place the dough on a floured surface, cut into 15 pieces, shape into rolls, and arrange in a greased 9×13 inch pan with space between.
Cover with plastic wrap, let rise for 1 hour until the rolls touch, then bake at 375°F (190°C) for 13–15 minutes until golden brown.
Remove from the oven and brush the tops with melted butter before serving warm.