Preparing the Dough

1. Activate the Yeast: In your large mixing bowl, combine the warm pineapple juice, sugar, and instant yeast. Let it sit for about 5 minutes until it’s frothy, indicating the yeast is active.
2. Mix Wet Ingredients: To the yeast mixture, add the melted butter, eggs, and vanilla extract, stirring until well combined.
3. Incorporate Dry Ingredients: Gradually add the flour, milk powder, and salt to the wet mixture. Use the stand mixer with a dough hook attachment on a low setting to combine the ingredients until a soft dough forms.

Kneading the Dough

1. Knead: Continue kneading the dough in the stand mixer for about 8-10 minutes. If the dough is too sticky, add a little more flour until it pulls away from the sides of the bowl but is still soft to the touch.
2. First Rise: Place the dough in a greased bowl, cover with a damp cloth, and let it rise in a warm place until doubled in size, about 1-1.5 hours.

Shaping and Second Rise

1. Shape Rolls: Once the dough has risen, punch it down gently and divide it into 15-18 equal pieces. Shape each piece into a ball and place them in the greased baking pan.
2. Second Rise: Cover the shaped rolls with a damp cloth and let them rise again until puffy and almost doubled in size, about 1 hour.

Baking

1. Preheat Oven: Preheat your oven to 350°F (175°C).
2. Bake: Bake the rolls in the preheated oven for 20-25 minutes or until they are golden brown on top.
3. Brush with Butter: Optionally, brush the freshly baked rolls with melted butter for a soft, golden crust.