Combine yeast and warm water in a 2-cup liquid measuring cup; let stand 5 minutes. Combine yeast mixture, milk, and next 4 ingredients in a large bowl. Gradually add 1 cup flour, stirring until smooth. Gradually stir in enough remaining flour to make a soft dough. Place in a bowl coated with cooking spray, turning to coat top, and let stand in a warm place (85°), free from drafts, 15 additional minutes.
Punch dough down; cover and let stand in a warm place (85°), free from drafts, 15 minutes.
Turn dough out onto a lightly floured surface; knead 3 or 4 times. Divide dough into 24 pieces; shape into balls. Place in 2 (9-inch) square pans or round pans coated with cooking spray, and let stand in a warm place (85°), free from drafts, 15 minutes.
Preheat oven to 400°.
Bake at 400° for 15 minutes or until golden. Serve warm.