In the bowl of an electric mixer, combine yeast, warm water, warm milk, sugar, and melted butter using the flat beater. Let stand until the yeast proofs. (When the yeast "proofs" it gets a bit frothy. This means the yeast is alive. If it looks no different after a few minutes, discard and start over.)
Stir in egg, salt, garlic powder, and rosemary.
Add flour ¼ cup at a time and mix until well-incorporated.
Switch to the dough hook and knead (stir) for 1-2 minutes.
Transfer the dough to a greased bowl. Cover with a kitchen towel and let rise for 1½ hours.
Grease 2 to 3 pie plates or round cake pans. (OK to use a baking sheet with rolls spaced apart if needed instead.)
Punch down dough.
Form rolls approximately the size of golf balls and place about 1 inch apart in baking pans.
Cover and let rise again for about an hour.
Preheat oven to 350°.
Bake rolls for abut 30 minutes or until the tops are golden brown. I recommend beginning to check them at 15 minutes. If your oven has hot spots, you might want to rotate the pans halfway through baking to ensure even cooking.
Notes
Refer to the main text of the blog post for tips to make this if you don't have a stand mixer.