In a large bowl, dissolve yeast in warm water. Add remaining ingredients. Beat on medium speed 3 minutes (batter will be sticky). Do not knead. Cover and let rise in a warm place until doubled, about 30 minutes.
Preheat oven to 375°. Stir batter down. Set aside 1/4 cup batter. Fill muffin cups coated with nonstick cooking spray half full. Top each with 1 teaspoon reserved batter. Cover and let rise until doubled, about 8-12 minutes.
Bake 10-15 minutes or until golden brown. Cool 1 minute before removing from pan to a wire rack.