Dinner Rolls

KitchenAid Sixty-Minute Dinner Rolls
Adapted from a recipe found on The Bumbling Baker
Erin’s Note: This recipe yields 24 large dinner rolls. If you don’t want 24 rolls kicking around your house I would definitely halve the recipe.
1/2 cup low-fat milk
1/4 cup sugar
2 teaspoons salt
3 tablespoons butter
3 packages of dry active yeast (Erin’s Note: This equals 6 3/4 teaspoons if you use yeast from a jar).
1 1/2 cups warm water (105F – 115F)
5 – 6 cups all-purpose flour
In a small saucepan, stir milk, sugar, salt and butter together. Heat over low heat until butter melts and sugar dissolves. Cool until lukewarm.
Dissolve yeast in warm water in warmed mixer bowl. Add lukewarm milk mixture and 4 1/2 cups flour to yeast mixture, and using a dough hook, mix on low speed for about 1 minute. With the mixer still going, add remaining flour, 1/2 cup at a time, and mix about 1 1/2 minutes, or until dough starts to clean the sides of the bowl. Knead on low speed for about 2 more minutes, or until dough is smooth and elastic – the dough will still be slightly sticky to the touch.
Place dough in a greased bowl, turning it to grease the top. Cover the dough with a clean, dry dish towel, and let it rise in a warm place, free from draft, for about 15 minutes.
Turn the dough onto a lightly floured surface, and divide into 24 equal pieces. Form each piece into a ball, and place in a greased muffin pan. Using kitchen shears or a pizza cutter (a knife will also work), cut each ball in half, then in quarters, and replace in the muffin pan. (Erin’s Note: Alternatively you can simply shape the dough into 24 balls and set them into a greased 9 by 13 baking dish. If you make the full recipe you will only be able to fit around 12 rolls in the baking dish at a time). Cover the muffin pan with the dish towel, and let the dough rise for about 15 minutes.
Bake at 425ºF for 12 minutes, or until the rolls are golden brown. Remove from pans immediately, and cool on wire racks. (Erin’s Note: At this point, in my family, we always brush the tops with a little butter).