Add the yeast, sugar and ½ the of the milk to a small bowl and mix. Let stand for 10 minutes until foamy.

In medium bowl, whisk together the rest of the milk, butter, salt and eggs. Set aside.

To a large bowl add the flour and mix in the wet ingredients until well combined.
Turn out onto a lightly floured surface and knead for 5 minutes, dusting lightly with flour as needed until elastic and smooth and no longer sticky.

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

Line a large baking sheet/tray with parchment paper.
Divide the dough into 16 balls by cutting the dough in half, then cut each of them in half and repeating this until you have 16 pieces (you can weigh them for accuracy).

Place on the baking sheet/tray, close to each other. Cover with a towel and place in a warm area to rise for 1 hour.

Preheat oven to 350°F/177°C. Place the oven rack in the center of the oven.

Brush the tops of the rolls with the egg yolk. Sprinkle with sesame seeds. Bake for 20-25 minutes until golden brown.