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In a small microwave-safe bowl, add the milk and honey. Heat in the microwave for about 20 seconds until the temperature is 115-degrees F. Alternatively, heat in a small saucepan on the stove.
Whisk to dissolve the honey into the milk. Stir in the yeast and let rest until foamy, about 5 minutes.
Stir in one egg yolk and melted butter.
In a separate bowl, add the flour and salt and stir together with a fork.
Pour the wet ingredients on top of the flour mixture, and stir until it starts to come together.
Knead the dough for a few minutes in the bowl, it will be sticky and pliable. Cover and let the dough in the bowl rise until doubled in a warm place.
Once its doubled, preheat the oven to 375-degrees F.
Divide the dough into 4 equal pieces, and roll each piece into a perfect ball. You can pinch from underneath the dough to make the top perfectly smooth, but it’s not necessary.
Place the dough balls into a 6” round cake pan that has been lightly sprayed with cooking spray (or use a muffin pan).
Let the dough rise again while the oven preheats. Ideally, the dough balls will be puffy and touching each other before they go in the oven. It should take about 30 minutes in a warm, draft-free environment.
Optional: take an extra egg yolk and beat it with 2 tablespoons of water. Brush it on top of the rolls before sliding into the oven.
Bake on the middle rack for 18-19 minutes, until golden brown.
Remove them from the oven and let them cool for about 5 minutes before tearing apart and serving.