Layer the dough ingredients in your bread machine bowl according to the manufacturer’s instructions. Process on the dough setting.

Check the dough a couple of minutes into the first knead to be sure a soft dough is forming. Add more flour or water, one tablespoon at a time, if the dough looks too sticky or dry.

In a large bowl, dissolve sugar and yeast in warm water, allow to set for 5 minutes until foamy.

Add milk and butter. Mix to combine.

Add flour and salt, mixing well until the dough comes together. When the dough is too stiff to stir, turn onto a lightly floured counter-top and knead by hand for 7-10 minutes, until a soft, pliable dough forms, add more flour or water, one tablespoon at a time if the dough looks too sticky or to dry. (Alternately, use your stand mixer to blend the ingredients together, and knead using a dough hook for 3-4 minutes, until the dough is smooth.)

Place the dough in a well-greased bowl. Cover it with a damp towel and let rise until doubled in bulk, roughly 1 hour.

Take the dough out of the bread machine or the rising bowl, and knead it a few times by hand to deflate.

Divide dough into 12 equal pieces. Roll each piece into a ball and place into a greased, 9x13 pan. Brush rolls lightly with milk. Cover and let rise 30-45 minutes, until doubled.

Near the end of the rising time, preheat the oven to 375F.

Bake rolls for 15-20 minutes, until golden brown.

Cool in the pan slightly before removing and serving.