Sift the flour into a large bowl and mix in the salt, sugar and vanilla sugar. Add the softened butter and mix well. I briefly heat the butter in the microwave beforehand. Crumble the yeast into the warm milk and stir. Pour the mixture into the flour mixture and work everything into a smooth, elastic dough. Knead long enough, about 5 minutes. Let rise in a warm place for about 1 hour or cover in a preheated oven at 50 ° C top / bottom heat for 40 minutes.
Divide the dough into 12 portions of approx. 80 g, shape them into balls and distribute them spaced apart on 2 baking trays that have been lightly greased or lined with baking paper. Cover and let rise in a warm place for another 20 minutes.
Preheat the oven in good time to 200 ° C top / bottom heat (180 ° C convection).
Brush the rolls with the milk and bake for about 20 minutes until golden.