Add your warm milk to a mixing bowl. Sprinkle yeast and sugar on top. Mix. Allow to sit for about 5-10 minutes or until bubbly.
To the bowl, add butter, pineapple juice, brown sugar, salt, vanilla, and eggs.
Using a wooden spoon, mix until lightly combined.
Add two cups of flour and mix with a wooden spoon until flour is mixed in but still lumpy.
With your Kitchen Aid mixer with dough hook attached, begin mixing dough with remaining flour until soft but still slightly sticky dough has formed. I used about 4 1/2 cups of flour. Dough will be tacky but shouldn't stick terribly to your fingers. If needed, move to counter and knead a few times with floured hands.
Place in a bowl and cover with plastic wrap and allow to rise for 2 hours or until doubled in size. Punch dough down and form into 15 equal sized dough balls. Try to make them as smooth as possible.
Place in a 9x13 inch pan. Brush with egg wash. Cover with plastic wrap and allow to rise for an additional hour or until almost doubled in size.
Bake at 350 degrees for 25 minutes or until golden brown and hollow sounding when tapped.