diff --git a/changelog/12904.bugfix.md b/changelog/12904.bugfix.md
new file mode 100644
index 000000000000..da070b945e51
--- /dev/null
+++ b/changelog/12904.bugfix.md
@@ -0,0 +1 @@
+Refresh headers used in requests (e.g. action server requests) made by `EndpointConfig` using its `headers` attribute.
diff --git a/rasa/plugin.py b/rasa/plugin.py
index cdbf5f0230d9..b7d5fce5c2aa 100644
--- a/rasa/plugin.py
+++ b/rasa/plugin.py
@@ -6,15 +6,15 @@
 import pluggy
 
 from rasa.cli import SubParsersAction
-from rasa.engine.storage.storage import ModelMetadata
-from rasa.shared.core.trackers import DialogueStateTracker
-from rasa.shared.nlu.training_data.message import Message
 
 if TYPE_CHECKING:
     from rasa.core.brokers.broker import EventBroker
     from rasa.core.tracker_store import TrackerStore
     from rasa.engine.graph import SchemaNode
+    from rasa.engine.storage.storage import ModelMetadata
     from rasa.shared.core.domain import Domain
+    from rasa.shared.core.trackers import DialogueStateTracker
+    from rasa.shared.nlu.training_data.message import Message
     from rasa.utils.endpoints import EndpointConfig
 
 
@@ -95,8 +95,8 @@ def init_telemetry(endpoints_file: Optional[Text]) -> None:
 
 @hookspec  # type: ignore[misc]
 def mock_tracker_for_evaluation(
-    example: Message, model_metadata: Optional[ModelMetadata]
-) -> Optional[DialogueStateTracker]:
+    example: "Message", model_metadata: Optional["ModelMetadata"]
+) -> Optional["DialogueStateTracker"]:
     """Generate a mocked tracker for NLU evaluation."""
 
 
diff --git a/rasa/utils/endpoints.py b/rasa/utils/endpoints.py
index 821cdbffa3e9..5e1032778e6b 100644
--- a/rasa/utils/endpoints.py
+++ b/rasa/utils/endpoints.py
@@ -149,6 +149,9 @@ async def request(
             headers.update(kwargs["headers"])
             del kwargs["headers"]
 
+        if self.headers:
+            headers.update(self.headers)
+
         url = concat_url(self.url, subpath)
 
         sslcontext = None