Activate the Yeast
In a small bowl, mix the yeast, sugar, and ½ of the warm milk. Let it sit for about 10 minutes until foamy, indicating that the yeast is activated.

Combine Wet Ingredients
In a medium bowl, whisk together the remaining milk, melted butter, salt, and eggs. Set aside.

Make the Dough
In a large bowl, add the flour and mix in the wet ingredients (the yeast mixture and the milk mixture). Stir until combined and a sticky dough forms.

Knead the Dough
Turn the dough out onto a lightly floured surface and knead for about 5 minutes until the dough becomes smooth, elastic, and no longer sticky. Add more flour if needed, but be careful not to add too much.

First Rise
Coat a bowl lightly with oil and place the dough in the bowl. Cover with plastic wrap or a towel and leave it in a warm place for 1 hour, or until it doubles in size.

Shape the Rolls
Once the dough has risen, punch it down to release air. Divide the dough into 16 equal pieces by cutting the dough in half, then cutting each half in half, and continuing until you have 16 pieces. You can weigh the dough for precision. Roll each piece into a ball.

Second Rise
Place the dough balls on a parchment paper-lined baking sheet, positioning them close together. Cover with a towel and let them rise for 1 hour in a warm place until they’ve doubled in size.

Prepare for Baking
Preheat the oven to 350°F (177°C) with the oven rack in the center. Brush the tops of the rolls with the whisked egg yolk and sprinkle generously with sesame seeds.

Bake the Rolls
Bake for 20-25 minutes, or until golden brown and cooked through. You can check if they’re done by tapping the top—they should sound hollow.

Cool and Serve
Let the rolls cool slightly on a wire rack before serving. Enjoy them warm with butter, as a sandwich bun, or alongside your favorite soups and stews!