1
Combine yeast and warm water in a 2-cup liquid measuring cup; let stand 5 minutes.
2
Combine yeast mixture, milk, and next 4 ingredients in a large bowl.
3
Gradually add 1 cup flour, stirring until smooth.
4
Gradually stir in enough remaining flour to make a soft dough.
5
Place in a bowl coated with cooking spray, turning to coat top, and let stand in a warm place (85 degrees), free from drafts, 15 additional minutes.
6
Punch dough down; cover and let stand in a warm place (85 degrees), free from drafts, 15 minutes.
7
Turn dough out onto a lightly floured surface; knead 3 or 4 times.
8
Divide dough into 24 pieces; shape into balls.
9
Place in 2 (9-inch) square pans or round pans coated with cooking spray, and let stand in a warm place (85 degrees), free from drafts, 15 minutes.
10
Preheat oven to 400 degrees. Bake at 400 degrees for 15 minutes or until golden. Serve warm.