In a large mixing bowl, combine 2 cups warm milk, butter, yeast and sugar. Whisk together and set aside for 10-15 minutes.
Add the flour and salt. Mix until the dough comes together.
Turn the dough out onto the counter and knead by hand for 8-10 minutes. Alternatively, you can us a stand mixer fitted with the dough hook attachments and mix on medium speed for 5-6 minutes.
Transfer the dough to a oiled bowl, cover with a dry towel and let rise in a warm place for 30 minutes.
Deflate the dough by gently pressing it into a rectangle and cutting it unto 4 strips. Then cut each strip into 8-10 pieces. Roll the pieces into balls baking sure to pinch the ends together, making a small seam.
Place the dough balls, seam side down on a parchment lined baking sheet, leaving 2 inches of space between each roll.. Cover with a dry towel and let rise at room temperature for 15-20 minutes.
In a small bowl, whisk ½ cup cold milk with 1 egg yolk. Sing a pastry brush, gently apply egg wash to the rolls and sprinkle with sesame seeds
Bake at 350F for 25-30 minutes or until golden brown.