scVelo is a method that solves the full transcriptional dynamics of splicing kinetics using a likelihood-based dynamical model. This generalizes RNA velocity to systems with transient cell states, which are common in development and in response to perturbations. scVelo was applied to disentangling subpopulation kinetics in neurogenesis and pancreatic endocrinogenesis. scVelo demonstrate the capabilities of the dynamical model on various cell lineages in hippocampal dentate gyrus neurogenesis and pancreatic endocrinogenesis.