To make the hamburger buns or sesame buns, pour the flour into a bowl. Make a well in the middle and crumble the yeast into it. Pour the milk over it and sprinkle some sugar over it so that the yeast gets nourishment. Then cover with a little flour from the edge of the bowl. Cover the bowl with a tea towel and let it rest for 10 minutes until the yeast has formed a small head of foam.
Put the remaining ingredients in a large bowl and knead with the yeast milk mixture to form a smooth yeast dough. Then cover the dough and let it rise in a warm place for at least 30 minutes until the volume has doubled or, better, tripled.
Shape the dough into nine equal balls and place on a baking sheet lined with baking paper. Then cover the yeast dough balls with a tea towel and let rise again in a warm place for 30 minutes.
Mix the egg yolks with the milk and brush the rolls with them. This will give you a beautiful golden yellow baking color. Finally, they are sprinkled with the sesame seeds. Bake the rolls in the preheated oven at 200 ° C top and bottom heat for about 25 minutes until they are golden brown.