If you have a bread machine... combine everything in the correct order and make the dough. Otherwise,
1. Dissolve yeast in warm water. Let sit 10 minutes. Add sugar, oil, and milk to yeast mixture. Mix well. Add salt and gradually add the flour until the dough is thick enough to knead, but not too stiff.
2. Knead for 8-10 minutes, until dough reaches and elastic consistency. Let rise 15 minutes. Separate dough into 12 balls. (If you want smaller buns, make about 20). Knead/form each ball well, and place on a baking sheet about 1 1/2" apart.
3. Cover with a damp dish cloth and place in a warm spot. (An oven that was heated but has cooled quite a bit works well). Let rise 20-30 minutes, or until the edges of the buns are about 1/4'' apart. Preheat oven to 400 degrees F.
4. Bake for 15-20 minutes, until brown on the top. Best served warm; store in a plastic bag to keep in the moisture if keeping overnight.