Activate the yeast: Add the warm milk, sugar, active dry yeast, and 2 tablespoons of flour to a large mixing bowl. Stir until smooth, then let the mixture rest for 5–10 minutes, or until foamy and bubbly.
Prepare the dough: Add the oil, flour, and salt to the activated yeast mixture. Mix with a spoon or spatula until a shaggy dough begins to form.
Knead the dough: Transfer the dough to a lightly floured surface and knead for 8-10 minutes. Alternatively, knead it in a stand mixer fitted with a dough hook. The finished dough should be smooth, elastic, soft, and slightly tacky without sticking heavily to your hands. Add extra flour one tablespoon at a time only if necessary.
Let the dough rise: Place the dough in a lightly oiled bowl and turn it once to coat the surface. Cover with plastic wrap or a clean kitchen towel. Let it rise in a warm, draft-free place for about 1 hour, or until doubled in size.
Shape the burger buns: Gently press the risen dough to release excess air. Divide it into 10 equal pieces. Shape each piece into a smooth ball by tucking the edges underneath and gently rolling it against the work surface.
Arrange the buns: Place the shaped buns on a baking sheet lined with parchment paper, leaving enough space between them to expand.
Complete the second rise: Cover the buns loosely with a clean kitchen towel or plastic wrap. Let them rise for approximately 30 minutes, or until puffy and noticeably larger.
Brush and add the topping: Preheat the oven to 350°F (180°C). Mix the water and oil in a small bowl. Gently brush the tops of the risen buns with the mixture and sprinkle with sesame seeds, if desired. Reserve the remaining brushing mixture.
Bake: Bake the burger buns for 18-20 minutes, or until the tops are evenly golden brown. Avoid overbaking them, as this can make the crust dry.
Brush after baking: As soon as the buns come out of the oven, gently brush them with the remaining water-and-oil mixture. This helps keep the crust soft and gives the buns a light shine.
Cool: Transfer the burger buns to a wire rack and let them cool before slicing and serving.