In a stand mixer bowl, add 1 1/2 cups flour, yeast, sugar and salt; whisk to combine.
In a saucepan or microwave-safe dish, combine milk and butter; heat to 120-130°F (butter does not need to melt). Add milk mixture to flour mixture; mix on low speed using a paddle attachment. Add eggs. Beat 3 minutes on medium speed.
Switch to dough hook attachment. Gradually add enough of the remaining flour to make a soft dough and knead until smooth and elastic, about 5 to 7 minutes.(NOTE: For hand mixing: following above steps, mix ingredients in large mixing bowl using a wooden spoon or dough whisk. Knead on floured surface until smooth and elastic.)
Place dough in lightly oiled bowl and turn to grease top. Cover; let rise until indentation remains after poking dough with finger down to second knuckle, about an hour.
Turn dough onto lightly floured surface; punch down to remove air bubbles.
Divide dough into 4 equal parts; divide each part into 3 pieces. For pan rolls, shape each piece into a smooth ball, place in a greased 9x13-inch cake pan. For individual rolls, place balls in greased muffin pan cups or 2 to 3 inches apart on greased baking sheets.
Cover; let rise until indentation remains when touched.
Preheat oven to 375°F.
Bake: Pan rolls - 20 to 25 minutes; Individual rolls - 12 to 15 minutes. If desired, lightly brush with melted butter. Remove from pan and cool on wire rack.
Get Bread Machine Method here.A nice, sweet glaze topping for these rolls can be made with 3 tablespoons of melted butter and 2 teaspoons of honey. Brush the rolls with this mixture right after you remove them from the oven.