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Make the pumpkin pie custard by whisking together the eggs, milk, pumpkin puree, brown sugar, cinnamon, nutmeg, and vanilla extract.
Slice the Hawaiian rolls in half horizontally to make slices of bread.
Dip the bread slices in the pumpkin pie custard, coating both sides.
Cook the French toast on a griddle or in a skillet over medium heat until golden brown on both sides.