Preheat oven to 375°F Heat olive oil in medium nonstick skillet over medium heat. Add onion and garlic; cook and stir 3 to 4 minutes or until onion is tender. Remove from heat. Add beef, basil, marjoram and pepper; toss to mix well. Set aside.
Unroll dough and separate into 2 long rectangles; press each into 12x4-inch rectangle, firmly pressing perforations to seal. Spread each half with half of beef mixture. Starting at one short side, firmly roll both pieces, crimping seam to seal.
With serrated knife and sawing motion, gently cut each roll into 8 pieces. Place cut side down on baking sheet sprayed with nonstick cooking spray. Gently reshape pinwheels after placing on cookie sheet, if necessary. Spray pinwheels lightly with nonstick cooking spray and sprinkle with sesame seeds before baking, if desired. Bake 13 to 16 minutes or until edges are golden brown.