Bread Machine Method:Place all of the ingredients into the pan of your machine, program the machine for manual or dough, and press start. About 10 minutes before the end of the final kneading cycle, examine the dough's consistency; it should be quite stiff, but not at all "gnarly;" adjust its consistency with additional flour or water, as necessary. Allow the machine to complete its cycle.
Shaping:Transfer the dough to a lightly greased work surface, and divide it into six equal pieces. Shape the pieces into round balls, and place them on a lightly greased or parchment lined baking sheet.
Working with one ball of dough at a time, center your kaiser stamp over the dough. Press down firmly, cutting to the bottom but not all the way through the dough. This is important; if you don't cut deeply enough, the shape disappears as the roll bakes; if you cut too deeply (all the way through), the roll will form "petals" as it rises and look like a daisy, not a Kaiser roll. Practice makes perfect! Repeat with the remaining rolls.
Place the rolls cut-side down (yes-cut-side down--this helps them retain their shape) onto a lightly greased or parchment-lined baking sheet. Cover the rolls, and allow them to rise for 45 minutes to 1 hour, or until they've almost doubled in volume. Turn the rolls cut-side up. Dip tops in milk and coat with poppy or sesame seeds, if desired.
Bake the rolls in a preheated 425°F oven for 15 to 17 minutes, or until they're golden brown. Remove them from the oven, and cool on a wire rack.