Fill a large pot with a couple inches of water. Place a steamer insert inside or a steamer basket over the pot. Cover, and bring to a low boil. Cut eight 9-inch square sheets of aluminum foil: you’ll be rolling each sausage in foil individually, then steaming them.
In a large bowl, mash the pinto beans with a potato masher or fork until mostly smooth. (Some texture is fine, but try to avoid having any whole beans.) Add in the vegetable broth, olive oil, tamari, nutritional yeast, garlic, spices, salt, and pepper, and whisk to combine.
Add the wheat gluten to the bowl and use your hands mix together. Knead the mixture in the bowl for a minute or two, until the soft dough just holds together. Turn the dough out onto a cutting board, and cut into eight equal pieces. Roll one of the pieces into a 5-inch cylinder, then place on a sheet of foil and roll up, twisting the ends together tightly like a candy wrapper. Repeat with the remaining pieces of dough. Place the wrapped sausages in the steamer basket, cover, and steam for 40 minutes. Unroll each sausage, and either use right away, or wrap tightly and refrigerate or freeze until needed.