This is a simple recipe that I have experimented with over time and it produces absolutely WONDERFUL yeast rolls without having to spend a ton of time. My total active time is about a half hour (not including allowing the bread machine to do the kneading work and allowing for rising). I use a bread machine to knead the dough but you could do it by hand too. If you use the bread machine, you will need a large capacity breadmaker and will want to use the "sweet dough" setting. Put ingredients in your bread machine in the order listed.
Make sure you're using the "dough cycle" on the bread machine. The dough should about double in size as it rises before it is ready for roll formation. If you use a dough hook in a mixer (like a Kitchen Aid), allow the dough to knead in the mixer with the dough hook until it is smooth and begins to form a ball. Stop the cycle, cover the mixer bowl with saran wrap and allow to rise (until about double in size), repeat kneading if desired.