Add all the ingredients (except the egg yolk and sesame seeds) to your bread machine in the order your machine prefers.
When the dough is done, turn onto a lightly floured surface and cut into 12 equal pieces. I find it easy to roll it into a log and cut it in half, then roll each into a longer log again and cut in half, etc.
Put parchment paper onto two large baking sheets.
Roll each piece into a ball and then flatten with your hand. Or I took each piece up into my hands and tucked the bottoms in under as I turned the dough around to create a nice smooth bun, then flattened with my hand. However you shape them, lay them on the parchment paper about 1″ from each other.
If you want hot dog buns, roll each piece into a 6″ long oval, then roll up tightly. Use the palms of your hand to slightly flatten each roll.
Cover the rolls with a towel or plastic wrap and let sit for 30 minutes.
Preheat the oven to 375F. Brush the rolls with the egg yolk and water mix, then sprinkle on sesame seeds if you’d like.
Bake 15-22 minutes, until lightly browned. Remove and let cool on a wire rack.