Sweet Dough, scraping in seedsfrom vanilla bean as directed.
Coat muffin pan cups withmelted butter. Punch downdough; divide in half.
Roll halfof dough on a lightly flouredsurface into a 12"-long log(cover remaining dough withplastic wrap).
Cut log into6 equal pieces.
Cut 1 pieceinto 3 equal pieces.
Roll eachthird into a 1" ball by cuppingyour hand and pushing doughagainst work surface as youroll it in a circular motion.
Place3 balls side by side in 1 muffincup. Repeat with remainingpieces, then with remaining halfof dough.
Loosely cover pan withplastic wrap or a kitchen toweland let sit in a warm, draft-freearea until dough rises about 1"above rim of muffin pan, 1-1 1/2hours.
Arrange a rack in middle ofoven; preheat to 375°F.
Brushtops of rolls with milk, thensprinkle each with 1/2 teaspoon sugar.
Bake until puffed and goldenbrown, 18-20 minutes.
Letcool completely. Store airtightin freezer for up to 1 month.
Let thaw at room temperature.Reheat on a baking sheet ina 350°F oven until warm, 5-10minutes.