Activate the yeast: If using active dry yeast, combine the yeast, sugar, and warm water in a medium bowl. Let it sit for 5 to 10 minutes, until foamy. If using instant yeast, skip this step.
Mix the dry ingredients: Whisk together the bread flour and salt in a large bowl or the bowl of a stand mixer. If using instant yeast, mix it in now.
Mix the wet ingredients: If using active dry yeast, add the egg, condensed milk, and oil to the yeast mixture. If using instant yeast, combine the warm water, sugar, egg, condensed milk, and oil in a separate bowl. Whisk until combined.
Make the dough: Pour the wet mixture into the flour mixture. Mix until a sticky dough forms.
Knead: Using a dough hook, knead on medium-low speed for 12 to 15 minutes. To knead by hand, work the dough on a lightly floured surface for 20 to 25 minutes. It’s ready when smooth, stretchy, and slightly sticky.
Check the dough: Stretch a small piece between your fingers. If it becomes thin enough to see light through without tearing, it’s ready. If it tears easily, knead for a few more minutes.
First rise: Shape the dough into a ball and place it in a lightly oiled bowl. Cover and let it rise in a warm spot for 1 to 2 hours, until doubled in size.
Shape: Gently press the dough to release large air bubbles. Divide it in half and roll each half into a log. Cut each log into 10 pieces. Shape into balls or small ovals, then coat with breadcrumbs.
Second rise: Place the rolls on a parchment-lined baking sheet. Cover and let them rise for 30 to 45 minutes, until puffy.
Bake: Preheat the oven to 400°F. Bake for 5 minutes, then lower the temperature to 350°F without removing the rolls. Bake for another 12 to 14 minutes, until the tops are brown. Let cool slightly before serving.