1 package (¼ ounce) active dry yeast
¼ cup warm water (110° to 115°)
3 cups bread flour
2 tablespoons sugar
1 tablespoon minced fresh rosemary, divided
¾ teaspoon salt
⅔ cup warm 2% milk (110° to 115°)
¼ to ⅓ cup canola oil
1 egg yolk
2 tablespoons 2% milk
In a small bowl, dissolve yeast in warm water. Place the flour, sugar, 2 teaspoons rosemary and salt in a food processor; pulse until blended. Add the warm milk, egg and yeast mixture; cover and pulse 10 times or until almost blended.
While processing, gradually add oil just until dough pulls away from sides and begins to form a ball. Process 2 minutes longer to knead dough (dough will be very soft).
Transfer dough to a greased bowl, turning once to grease the top. Cover with plastic wrap and let rise in a warm place until doubled, about 1 hour.
Punch down dough. Turn onto a lightly floured surface; divide and shape into 12 balls. Roll each into a 15-in. rope. Starting at one end, loosely wrap dough around itself to form a coil. Tuck end under; pinch to seal.
Place 2 in. apart on greased baking sheets. Cover and let rise until doubled, about 30 minutes.
For egg wash, in a small bowl, whisk egg yolk and milk; brush over rolls. Sprinkle with remaining rosemary. Bake at 350° for 18-22 minutes or until golden brown. Remove from pans to wire racks; serve warm.