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Combine 2 cups flour and the yeast in the bowl of a stand mixer.
Combine milk, oil, honey, and salt, and heat to 115-120 degrees.
Add warm liquids to flour mixture, and beat until combined. Add egg and egg yolk (save the white for the glaze), and beat for 2 minutes.
Add enough flour to make a kneadable dough, and turn out onto a floured surface. Knead 3-5 minutes or until smooth and elastic. Place in bowl, cover with a wet tea towel, and let rise 1 hour.
Punch dough down and divide into 24 pieces. Roll each piece into a ball, and place balls in two greased 8×8 inch pans or 9 inch round cake pans. Cover and let rise 30 minutes.
Combine glaze ingredients, whisk until smooth, and gently brush over risen rolls. Bake in a preheated 350° F oven for 18-20 minutes, or until lightly browned.