Stir yeast and water together in large bowl or stand mixer. Let sit until foamy, about 10-15 minutes.
Add oil, 1 egg, honey, and salt to yeast mixture. Stir well.
Add 2 cups flour and knead until stiff dough forms, adding more flour gradually as needed. Knead until smooth.
Form dough into a ball, place in lightly oiled bowl, cover with towel, and let rise 1-1.5 hours until doubled.
Punch down dough and cut into 12 equal pieces. Form each into a smooth ball and place on parchment-lined baking sheets.
Whisk remaining egg yolk with milk and lightly brush over tops of buns. Sprinkle with sesame seeds.
Cover and let rise until doubled, about 1 hour.
Preheat oven to 375°F.
Bake 15-18 minutes until golden brown.
Cool on wire rack. Use immediately or freeze for later (reheat before serving).