In a small bowl, combine milk and yeast and set aside.
In the kitchen aid stand mixer bowl combine rest of the dough ingredients in a mixer and knead to make a soft, smooth dough.
Place the dough in a lightly greased bowl, and allow it to rise for 60 to 75 minutes, until it's puffy though not necessarily doubled in bulk.
Gently deflate the dough, and transfer it to a lightly greased work surface.
Divide the dough into 12 equal pieces, and make it into smooth balls.
Place it in baking sheet lined with parchment paper and set aside for another 30 minutes or until they puff up little bit.
Towards the end of the rising time, preheat the oven to 350°F.
Do an egg wash and sprinkle white sesame seeds and bake it for about 18 minutes or until they becomes golden brown. A digital thermometer inserted into the middle of a center roll should register at least 190°F.
Remove the rolls from the oven, and brush with melted butter, if desired. After a couple of minutes, turn the rolls out of the pan onto a cooling rack.
Serve warm. Store completely cooled rolls, well-wrapped, at room temperature for several days; freeze for longer storage.