For the rolls:
In the bowl of an electric mixer combine yeast, water, milk, sugar, and oil. Gradually add in the flour and stir until moistened. Add in the salt. Fit the mixer with the dough hook attachment and mix on medium speed until the dough comes together in a smooth elastic ball, about 5 minutes. If the dough is unbearably sticky, add in more flour 1 tablespoon at a time. The dough can also be kneaded by hand.
Transfer the dough to a lightly greased bowl and cover. Let rise in a warm place until doubled in size, about 1 hour.
Turn the dough out onto a floured work surface and divide into six equal portions. Shape each portion into a tight ball and place on a parchment lined baking sheet. Cover and let rise while you prepare the topping.
Make ahead: At this point the dough can be made ahead of time by covering tightly and refrigerating for up to 24 hours. Remove and let come to room temperature. If two fingers pressed into the dough leave indentations it’s ready.
For the topping:
In a large bowl combine all the ingredients and let rest, covered, for 15 minutes, or until frothy.
Make ahead: Store the topping in a covered but ventilated container in the fridge for up to a week. Let come to room temperature before using.
Spread a generous layer of the topping all over the rolls, maintaining a thick coating. You should use almost all of the topping. Let rise uncovered for another 20 minutes.
Meanwhile, preheat the oven to 400°F.
Bake the rolls for 25 minutes, or until golden brown.