Add the ingredients to the bread machine pan following your machine’s recommended order (typically liquids first, then dry ingredients, with yeast added last).
Choose the dough cycle on your bread machine and start it.
After a few minutes of mixing, check the dough. It should be soft and slightly tacky, not dry or overly sticky. Add 1 tablespoon flour or milk if needed.
Allow the bread machine to complete the kneading and first rise.
Lightly grease a baking pan. Remove the dough, gently punch it down, and divide it into 12 equal pieces. Shape each piece into a smooth ball and place in the pan.
Cover the pan and let the rolls rise in a warm place for 30 to 45 minutes, or until puffy and nearly doubled in size.
Preheat the oven to 375°F (190°C). Bake the rolls for 15 to 18 minutes, or until golden brown on top.
Remove from the oven and brush with melted butter if desired. Serve warm.
