Prepare the dough: Combine the warm milk, yeast, and 1 Tablespoon of sugar in the bowl of your stand mixer. Cover and let sit for 5 minutes. If using a large mixing bowl instead of a stand mixer, mix by hand with a wooden spoon or silicone spatula. Using a hand mixer is less ideal as the sticky dough tends to get stuck in the beaters.

Mix the dough: Add the remaining sugar, egg, butter, salt, and 1 cup of flour to the yeast mixture. Using a dough hook or paddle attachment, mix on low speed for 30 seconds. Scrape down the sides of the bowl, then add the rest of the flour. Beat on medium speed until the dough pulls away from the bowl’s sides, around 2 minutes. If the dough is too wet, add more flour one tablespoon at a time until it’s workable but still slightly sticky.

Knead the dough: Continue beating the dough in the mixer for 5 minutes, or knead by hand on a floured surface for the same amount of time. The dough should be soft and slightly tacky. If it’s too sticky, add flour 1 teaspoon at a time. After kneading, the dough should bounce back when poked. You can also perform the “windowpane test” by stretching a small piece of dough until light passes through without tearing. If it passes, the dough is ready to rise.

First Rise: Lightly grease a large bowl with oil or nonstick spray. Place the dough in the bowl, turning to coat all sides with oil. Cover with aluminum foil, plastic wrap, or a kitchen towel, and let rise in a warm place for 1-2 hours until doubled in size. (Rising on the counter usually takes about 2 hours.)

Prepare the pans: Grease a 9×13 inch baking pan or two 9-inch square or round baking pans. Alternatively, use a cast iron skillet or a lined baking sheet.

Shape the rolls: Once the dough has risen, punch it down to release air. Divide it into 14-16 equal pieces. Shape each piece into a smooth ball and arrange them in the prepared pan.

Second Rise: Cover the shaped rolls with aluminum foil, plastic wrap, or a kitchen towel. Let them rise until puffy, about 1 hour.

Preheat the oven: Adjust the oven rack to a lower position and preheat to 350°F (177°C). Baking the rolls on a lower rack prevents the tops from burning.

Bake the rolls: Bake for 20-25 minutes until the tops are golden brown, rotating the pan halfway through. If the tops brown too quickly, tent the pan with aluminum foil. Remove from the oven and brush with the optional honey butter topping. Allow the rolls to cool for a few minutes before serving.

Store leftovers: Cover any leftover rolls tightly and store at room temperature for 2-3 days or refrigerate for up to 1 week.