-
In the bowl of a stand mixer fitted with the paddle attachment, dissolve the yeast in the warm water. Stir in sugar and let rest in a warm spot until foamy and doubled in size, about 45 minutes. If yeast doesn't foam up, discard and start again.
-
Stir in 3 cups flour and salt, and beat on low until smooth, 5 - 7 minutes. Switch to the dough hook and beat on medium, adding as much of the remaining 2 cups flour as needed, until dough comes together and pulls away from the sides of the bowl.
-
Transfer dough to a lightly floured work surface and knead by hand until smooth and elastic, about 5 minutes. Oil a bowl and transfer dough, turning to coat both sides with oil. Cover loosely with plastic wrap and a damp kitchen towel. Let rest in a warm place until doubled in size, about 1 1/2 hours.
-
Punch dough down and transfer to a lightly floured work surface. Divide into 24 even pieces, and cover with a damp kitchen towel to prevent drying. Line 2 baking sheets with parchment paper. Working with 1 piece at a time, roll dough between your hands on the work surface until it forms a tight ball. Place on prepared baking sheet. Repeat, spacing dough balls evenly on baking sheets.
-
Cover baking sheets loosely with a damp kitchen towel, and let rest until doubled in size, about 30 minutes. Preheat oven to 400 degrees F.
-
Whisk to combine egg and milk, and brush on rolls. Use a sharp knife or razor bade to make a 1-inch slit down the center of each roll. Bake 20 - 25 minutes or until rolls are golden brown. Transfer to a wire rack to cool completely before serving.
-
Store leftovers in an airtight container at room temp for up to 4 days.