• In a large bowl, stir together the warm milk with the yeast
• Add all the other ingredients for the dinner rolls to the same bowl
• Use a large bowl to stir together the ingredients until they form a shaggy dough
• Turn out onto a clean surface, and knead with a push-pull motion using your palms for 15 minutes. The dough will be sticky at first, but will become smooth and stretchy with time, so do not add more flour. You know the dough is done kneading when it passes the window-pane test (stretch a piece of dough slowly between your fingers until it becomes almost paper thin without ripping)
• Transfer the dough to a large clean bowl sprayed with a little oil. Cover with cling wrap and place in a warm, humid spot to let the dough rise until it at least doubles in size. This typically takes around 90 minutes
• Once risen, punch the dough and turn it out onto a clean surface. Divide it into 12 equal pieces
• Roll each piece into a tight, smooth ball. I like to do this by placing the dough on one palm which I hold flat, and twisting it around with the other palm which I slightly curve, using gentle pressure. You can also twist it into a ball on the counter using one palm. Make sure there aren't any wrinkles or cracks
• Line a 9x13" baking sheet with parchment paper, and place the rolls on the sheet with even space between them
• Mix the egg yolk and milk in a small bowl to make the egg wash, and use a pastry brush to generously brush the rolls with the egg wash
• Allow the rolls to rise a second time in a warm spot for 30-45 minutes until they are puffy
• In the last 20 minutes, preheat the oven to 350F (conventional)
• Once the rolls are risen, brush them with another generous coating of the egg wash
• Bake for 20-22 minutes until the rolls have a beautiful shiny golden crust on them
• To make the garlic butter, melt the butter in a saucepan. Add the garlic and saute for 1-2 minutes. Then turn off the heat and mix in the parsley
• Brush the rolls with garlic butter while they're still hot
• Serve & enjoy!

Video tutorial:

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