When a person has not yet attained Nirvana, actions of such a person come from a completely utilitarian point of view.
When a person strives on the path towards Nirvana, actions of such a person come from a less and less utilitarian point of view.
When a person attains Nirvana, actions of such a person come from an even less utilitarian point of view.
When a person attains Nirvana, that person acquires immense compassion for other beings. Thus, actions of such a person come from his will to help other beings ease their suffering and attain Nirvana.
Do actions of such a person arise because he gets something in return from these actions? Yes. In order to help others attain Nirvana, he must survive. Thus, he must get food, water and shelter. In order to help others attain Nirvana, he must develop the wisdom for teaching. Thus, he must learn how to teach and gain experience. There are many things such a person must do to help others. Thus, on this level, in this "reality", there is utilitarianism in Buddhism, but this utilitarianism is only visible to a mind which has not yet attained Nirvana.
To a liberated mind which has attained Nirvana, there is no utilitarianism in his actions, nor in the actions of other minds which attained Nirvana. Why there is no utilitarianism in his actions?
To answer this question, we must answer this question: Why does the will to help other beings in attainment of Nirvana arise in a person who attains Nirvana?
To answer the previous question, we must answer this question: Why does the will arise?
To answer the previous question, we must answer this question: What is the cause of that will arising?
To give an understandable answer to the last question (and to others in the chain of questions) is impossible. The answer must be experienced: "will comes from ignorance". Does this mean that a person who attains Nirvana and helps other beings in attaining Nirvana is ignorant because there is "will" present in his mind? No, he is not ignorant. Such a person clearly sees what he is doing. He sees his ignorance. He understands it. He knows it fully. By seeing, understanding and knowing, he sees, understands and knows his "will". He sees, understands and knows, that there is no utilitarianism in his "will". To see this and understand it fully, it must be experienced. There is no other way.
Utilitarianism is a theory in normative ethics holding that the moral action is the one that maximizes utility. Utility is defined in various ways, including as pleasure, economic well-being and the lack of suffering. Utilitarianism is a form of consequentialism, which implies that the "end justifies the means". This view can be contrasted or combined with seeing intentions, virtues or the compliance with rules as ethically important.