Whether my dependents will need H4 stamping before coming back to USA ?

[sid81s]

My H1B extension with my previous employer was upto May 29th 2017 and my dependents are carrying the same visa stamp on their passports. Afterward, I have changed my employer twice and the corresponding validity dates that I have got on the two I797's were Feb 2nd 2018 and Jan 6th 2017 respectively. Also, my dependents went to India on vacation on Jan 10th 2016. So my question is whether they will have to go for stamping before they can come back to USA?