Add ingredients to the bread pan in the order recommended by your Zojirushi (usually liquids first, then dry ingredients, yeast last or in a separate well).
Select the Dough cycle and start the machine. The dough should be soft and slightly tacky—avoid adding too much extra flour.
When the cycle finishes, turn the dough onto a lightly floured surface. Divide into 6 equal pieces (about 100-110 g each for consistent size).
Shape each piece into an elongated oval/hoagie shape (roughly 15-20 cm / 6-8 inches long). Place on a parchment-lined or greased baking sheet. Lightly score the tops if desired.
Cover and let rise in a warm place for 30-45 minutes until puffy.
Preheat oven to 205-220°C (400-425°F). Bake 12-18 minutes until golden (internal temperature ~88-93°C / 190-200°F). For a softer crust, brush with melted butter right after baking. Cool on a wire rack.