Step 1: In a large bowl dissolve yeast in warm water.
Step 2: Add egg, sugar, butter, dry milk, salt and most of the flour. This will be a sticky dough to start with.
Step 3: Beat until smooth. You can do this by hand or with a mixer. (A stand mixer is easiest)
Step 4: Add enough remaining flour to form a soft dough that pulls away from the sides of the bowl.
Step 5: Turn your dough out onto a lightly floured surface, then knead it until smooth and elastic. Or use the dough hook on your stand mixer for around 8 minutes.
Step 6: Place the dough in a large bowl coated with cooking spray to keep it from drying out, turning once to coat the top.
Step 7: Cover with plastic wrap and let rise in a warm place until doubled.
Step 8: Punch dough down ( you’re just removing the air bubbles) and shape the dough in balls. Space 2-3" apart on the baking sheet if you like individual rolls, or 1 " apart if you like to pull them apart after baking (Makes softer edges) Let them rise one last time and then bake in preheated oven 375º for 15 minutes or until golden.
If you have a bread machine, just put the ingredients in in the order listed and press the dough button. When it is beeps, skip to step 8.