Mix together the milk, honey, and yeast in the mixing bowl. Let it sit for 3-5 minutes to activate the yeast.
Add in remaining ingredients and mix for 1 minute on medium.
Add in more flour if needed. Mix for 7-8 minutes on medium speed, the dough needs to be smooth.
Cover and let it rise until the dough is doubled.
You can form them into round traditional rolls, or make them as I did. Roll the dough into a 12x18-inch rectangle. Cut this into 3x4-inch rectangles. Fold them over into thirds. Place on your baking sheet.
Cover and let the rolls rise until they have doubled. At the end of the rise, preheat the oven to 375 degrees.
Brush with egg wash and place in the hot oven.
Bake for 15-20 minutes until the rolls are a deep golden brown.
Remove and serve them hot or you can let them cool.
Notes
If you prefer, you can also use a blend of whole wheat and white flour. This could be either all-purpose flour or bread flour. 50/50 is a great start!
The rise time will really be determined by the room temperature. If your house is cooler, just know it will take longer to rise. Or if your house is warm, it will rise quickly.
Be sure you give the dough time to rise, this will help create perfect fluffy whole wheat dinner rolls.
This recipe can be done in a stand mixer or kneaded by hand. It will take a little longer to knead by hand. I generally plan on 8-12 minutes.
There are many ways to top these rolls- you can brush with an egg wash then sprinkle with sesame seeds, flour, or nuts. You can also just brush them with melted butter too.
You can use instant yeast in place of active dry yeast. There is no need to activate it, just add it right in with all the ingredients and mix.