Heat the milk to very warm - but not super hot - no more than 110°F. Use a thermometer if you are not absolutely sure.
Dissolve the sugar into the milk. Sprinkle the yeast on top of the milk and set aside to get foamy, about 10 minutes.
Melt the coconut oil and set aside.
Measure out the flour into a large bowl. It's important that you either weigh the flour or "lighten" it when measuring. See the blog post and the recipe card notes. Add the salt.
Add the activated yeast/oat milk mixture and melted coconut oil and stir to combine everything until a sticky dough forms.
Turn out the dough on a lightly floured surface. Start with using one tablespoon of flour for the surface. Add up to one more if the dough is sticking to your hands when kneading. Knead for 8-10 minutes until smooth and soft, but still a little sticky.
Place in an oiled bowl, turn the dough ball so that it is oiled on all surfaces, and cover with plastic wrap or a damp cloth and allow to rise until doubled. This will normally take about 60 minutes as long as the room temperature in your kitchen is not too cool and is draft-free.
Turn the dough out onto a floured surface and cut it into 8 even pieces.
Tucking the edges in to the center, roll each piece into a ball. Repeat with the remaining dough.
Set the dough balls on a parchment-lined baking sheet and cover the dough balls with plastic wrap or a damp towel and allow to rise again until 1.5x the size, about 30-40 minutes. Do the poke test (see notes).
During this second rise, preheat the oven to 385°F
Once the dough has risen, brush each roll with a little more plant milk. Sprinkle or gently pat on the sesame seeds or other toppings if desired.
Bake for 18-22 minutes, until well browned on top and firm all down the sides. Don't be fooled by quick browning on top, the milk makes this happen faster. Also check the side.
Remove from oven and allow to cool completely.
Cut in half and filled with your preferred patty or sandwich servings.