Notes: Dough can be made up to 2 days before baking. Rolls can be baked up to 1 day ahead. Store airtight. Reheat, uncovered, in a 350° oven just until warm, about 5 minutes.
In a 1- to 1 1/2-quart pan, warm 1 cup milk over high heat until small bubbles appear at edges. Add 1/2 cup butter, sugar, and salt. Remove from heat; cool to lukewarm (110°).
Soften yeast in 1/4 cup warm water (110°) about 5 minutes.
In a bowl, combine milk mixture and yeast. Add 2 eggs and beat to blend. Add 2 cups flour. Beat at low speed to moisten. Then beat on high speed until dough is stretchy, 6 to 10 minutes.
On low speed (or with a spoon), mix in 1 1/2 cups flour until well blended. Then gradually stir in as much of the remaining 1/2 cup flour as dough will absorb. Dough should still be soft and slightly sticky. Cover with plastic wrap and place in the refrigerator for at least 4 hours or up to 48 hours.
Punch dough down and divide in half. Cover half the dough while shaping the remainder.
Butter muffin pans (with 2 1/2-in.-wide cups). To make cloverleaf rolls, pinch off and shape dough into 1-inch-thick balls. Drop 3 balls into each cup. Cover lightly with plastic wrap.
Let rolls rise in a warm place until almost doubled, 30 to 45 minutes. With a fork, beat remaining egg to blend with 1 tablespoon milk. Brush rolls with egg mixture and sprinkle with sesame seed.
Bake rolls in 400° oven until golden, 8 to 10 minutes. Serve warm or cool.
Nutritional analysis per roll.