Start by adding milk and yeast to the bowl and mix well to dissolve the yeast.
Then add remaining ingredients and mix well.
Knead dough for about five minutes.
Transfer to a lightly floured surface and continue to knead dough until firm, a little tacky, but not sticky.
If the dough is too sticky, add a little bit more flour (1 tablespoon at a time).
Transfer dough back to bowl, cover with a dish towel and let the dough rise for around 1 hour, or until doubled in volume.
Then transfer dough to a lightly floured surface and open it with a rolling pin to about 1/2 inch thick.
Cut with a cookie cutter and transfer buns to a baking pan lined with a silicon mat or parchment paper.
Gather leftover dough into a ball, roll out again and cut, repeating the process until all dough has been used.
Place baking pan in a draft free place, cover with a clean dish towel and let the buns rise until doubled in size.
Preheat oven to 350F/180C and bake hamburger buns for around 12 to 15 minutes.
Remove from oven, transfer buns to a wire rack and let them cool.
Using a breadmaker
If you are using a bread machine just add all ingredients according to the manufacturer's instructions and turn on the kneading cycle.
When it's finished, proceed from step 6 from instructions above - making by hand.
Using a stand mixer
Follow instructios for making by hand, and use the dough hook to knead on low the first 5 minutes, and then increase the speed to medium for another 3 minutes.