Place the lukewarm water into a bowl. Sprinkle over the yeast and sugar. Leave for a few minutes or until frothy. Set aside.
Place the plain flour and salt into a large bowl and mix to combine.
Make a well in the dry ingredients.
Pour the liquid yeast mixture, milk, melted butter and eggs into the centre of the well. Mix until combined (the mixture will be sticky and thick).
Cover the bowl with a tea towel and place into a warm spot (see recipe notes) for at least 1.5 hours or until at least doubled in size.
Line a 30cm X 24cm baking tray with baking paper and set aside.
Flour a chopping board or kitchen bench with plain flour and roll the dough into a long log. Cut the mixture into 12 equal-sized pieces.
Roll each of the dough portions into a ball shape and place into the prepared baking tray.
Place the tray back into a warm spot and allow to rise again for 30 minutes (they won't quite double in size this time).
Preheat the oven to 180 degrees celsius (fan-forced) or 200 degrees celsius (conventional).
Sprinkle the top of the rolls with sesame seeds (optional).
Bake the rolls in the oven for 15-20 minutes. The rolls are cooked when they're golden on top and sound hollow when cooked through.
Brush the extra melted butter over the top of the rolls (don't worry if it moves the sesame seeds around).
Allow the rolls to cool for 5 minutes before transferring to a wire rack to cool completely (you can do this by picking up the entire sheet of baking paper).