In a bowl, dissolve yeast in warm water. Sprinkle with sugar; let stand for 5 minutes. Add milk, brown sugar, pumpkin, butter, salt, spices and 2 cups flour; beat until smooth. Stir in enough remaining flour to form a soft dough.
Turn onto a floured surface; knead until smooth and elastic, about 6-8 minutes. Place in a greased bowl, turning once to grease top. Cover and let rise in a warm place until doubled, about 1 hour. Punch dough down. Turn onto a floured surface; divide into 24 pieces. Shape each into a roll. Place 2 in. apart on greased baking sheets. Bake at 350° for 15-20 minutes.
Editor's Note: Dough may be shaped into two loaves and baked in greased 9x5x3-in. pans for 25-30 minutes.