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In a small saucepan, scald milk over medium-high heat, until small bubbles form around the edges. Remove from heat and stir in brown sugar and butter. Transfer to the bread pan and let cool to lukewarm (between 30C and 35C).
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Add salt, basil, rosemary, pepper, egg and pumpkin to the bread pan. Spoon flour on top of liquid. Add yeast.
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Select the Dough Cycle and press Start
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When the cycle is finished, transfer dough to a floured surface and punch down gently. Divide dough in half. Cut each half into 6 pieces. Roll each piece into a ball. Place at least 2 inches (5cm) apart on prepared baking sheet. Cover with a clean towel and let rise in a warm, draft-free place for 30 minutes. Meanwhile, preheat oven to 190C.
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Bake for 15 to 20 minutes or until risen and browned and an instant-read thermometer inserted in the center of a roll registers 90C.