Dissolve 1 tsp sugar in the warm milk. Sprinkle yeast over top and let stand 10 minutes, until frothy.

In a large bowl, stir together flour, brown sugar, salt, cloves, and nutmeg. Add the yeast mixture, pumpkin puree, melted butter, olive oil, and egg. Stir until combined.

Turn onto a lightly floured surface and knead until smooth and elastic, about 10 minutes. Place in an oiled bowl, turning once to coat. Cover with a clean towel and let rise until doubled, about 1 hour.

Punch down dough. Divide into 16 equal pieces and roll each into a ball. Place in a greased 9×13-inch pan or on a greased baking sheet. Cover and let rise again until doubled, about 45–60 minutes.

Preheat oven to 350ºF. Whisk egg yolk with 1 tbsp water and brush over rolls. Bake 18–22 minutes, until golden brown and an instant-read thermometer reads 190ºF.

Cool slightly on a wire rack before serving warm.