We are not going till August 2024. This is what I found
https://www.outofyourcomfortzone.net/the-cheapest-way-to-hike-pulpit-rock-from-stavanger-1-day-norway-cruise-stop/
It looks like the bus with https://gofjords.com/ leaves at 8:00 and https://www.pulpitrock.no/ has a return at 12:00 in the summer (from what I can tell) and at 1:40. Not a lot of time to get up and back and the outgoing bus is a round trip fare (maybe you could call and ask about a one way). Taxi would be another option to get there and take a bus back. Let me know how it goes if you guys attempt to squeeze it in.