Microwave milk for 2–3 minutes or until scalded. Cool to 110–130°F.
In the bowl of a stand mixer, combine milk, yeast, and 1 tablespoon of sugar. Let sit 5–10 minutes until foamy.
Add remaining sugar, egg, oil, salt, and flour.
Knead using the dough hook attachment for 3 minutes on low speed and 5 minutes on medium speed.
Dough should pull away from the sides of the bowl. If needed, add flour 1 tablespoon at a time.
Transfer dough to a greased bowl. Cover and proof for about 45 minutes or until doubled.
Divide dough into 12 equal pieces and shape into smooth balls.
Place on a parchment-lined baking sheet. Cover and allow to rise until puffy.
Brush with egg wash and add sesame seeds if desired.
Bake at 350°F for about 20 minutes until golden brown.
Cool on a cooling rack before serving.