Add oil, honey, and yeast into warm milk. Stir and let rest for 15 minutes until it begins to bubble and get foamy.
Add in salt and flour to yeast mixture and put in a stand mixer. Using the dough hook, mix until the dough comes together and is slightly sticky but not sticking to the sides of the bowl.If the dough is too sticky add some additional flour a Tablespoon at a time. Knead for 5 minutes until soft and smooth
Cover and let rise for 20 minutes
Divide dough into four pieces and form into balls. Place into a greased pan (I use a 6 inch cake pan) and cover. Let rise for 15 minutes.
Brush rolls with beaten egg for an egg wash.
Bake for 12-14 minutes or until rolls are golden brown and baked through.
Always check the expiration date on your yeast package. Store your yeast in the fridge or freezer to help it stay fresh longer.
Use a thermometer to check the temperature of your warm liquid if you aren't sure. It should be between 105-115 degrees F.