In a large bowl, mix the warm milk with the yeast.

Add all the other ingredients for the dinner rolls into the same bowl.

Stir the ingredients until they form a shaggy dough.

Transfer the dough onto a clean surface and knead with a push-pull motion using your palms for about 15 minutes. The dough will be sticky at first but will become smooth and stretchy with kneading.

Place the dough in a large clean bowl sprayed with a little oil. Cover with cling wrap and let it rise in a warm, humid spot until it doubles in size, about 90 minutes.

Once risen, punch the dough down and divide it into 12 equal pieces. Roll each piece into a tight, smooth ball.

Line a 9x13" baking sheet with parchment paper and place the rolls on it with even spacing.

Mix the egg yolk and milk to make the egg wash. Brush the rolls generously with the egg wash.

Let the rolls rise a second time in a warm spot for 30-45 minutes until they puff up.

Preheat the oven to 350F (conventional) in the last 20 minutes of rising.

Brush the risen rolls with another generous coating of the egg wash.

Bake for 20-22 minutes until the rolls have a shiny golden crust.

For the garlic butter, melt the butter in a saucepan, add the garlic, and sauté for 1-2 minutes. Turn off the heat and mix in the parsley.

Brush the hot rolls with the garlic butter.

Serve and enjoy!