Add the warm milk, melted butter, yeast, and 1 tablespoon of sugar to the bowl of a stand mixer fitted with the dough hook. Let sit for 5 minutes.
With the mixer on low, add the egg yolks, salt, remaining sugar, and about one-third of the flour. Mix until combined. Add the remaining flour and gradually increase the mixer to medium speed. Knead for 3–5 minutes, or until the dough begins pulling away from the sides of the bowl. The dough should be slightly tacky but not sticky. If it feels too sticky, add a little flour, one tablespoon at a time.
Transfer the dough to a lightly floured surface and knead by hand for about a minute, just until you can form it into a smooth ball. Place it in a lightly oiled bowl, turning once to coat. Cover with plastic wrap and a kitchen towel. Let rise in a warm place until doubled in size, about 2–3 hours.
Line a 9x13-inch baking dish with parchment paper.
Once the dough has doubled in size, uncover it and gently punch it down to release the air. Transfer to your work surface and divide into approximately 1.5-ounce portions. Roll each piece into a smooth ball and arrange in the prepared baking dish, seam side down. If you don't have a kitchen scale, divide the dough into approximately 18–20 equal pieces.
Cover the rolls loosely with plastic wrap and a couple of kitchen towels. Let rise at room temperature for another 1–2 hours, or until noticeably puffy and touching. Preheat the oven to 375°F toward the end of the second rise.
Bake for about 20 minutes, or until the rolls are golden brown. Remove from the oven and brush with your favorite topping, such as honey and melted butter, melted butter alone, or melted butter with chopped herbs. Serve warm.