Make dough: Combine flour, yeast, sugar, salt. Add warm milk and water, mix to shaggy dough. Knead 5 mins. Add softened butter in pieces, knead another 5-7 mins until smooth, elastic, and passes windowpane test.
First rise: Cover, rise in warm spot until doubled (1-1.5 hrs).
Shape: Punch down, divide into 12 equal pieces (~55g each). Roll each into a tight ball by cupping hand over dough and rolling in circles on unfloured surface. Arrange in greased 23cm round pan or 20x30cm rectangular pan.
Second rise: Cover loosely, rise 30-40 mins until puffy and rolls are touching.
Bake: Preheat oven to 180°C fan. Mix glaze, brush over rolls. Bake 16-18 mins until golden.
Finish: Brush with more glaze immediately out of oven. Cool 5 mins before serving.
Can make dough night before: after first rise, shape, arrange in pan, cover tightly and refrigerate. Next day, rest at room temp 1 hr before baking.