You don't want to kill the yeast by having your milk to hot. Another tip make sure the eggs and butter are at room temperature. Use unsalted butter for the dough, this will control the amount of salt in the dough, and salted butter for the rolls as soon as they come out of the oven. I let my dough rise two times before forming the rolls, then rise again after having form the rolls and placing them in the pan. Make your rolls ahead of time.
Rolls freeze excellently.
Transfer the rolls to a cooling rack. Allow the rolls to completely cool. Place rolls in a plastic bag, tie it tight or wrap loosely in plastic wrap, then freeze. Now if you prefer to do the brown and serve thing, if you don't want to bake your rolls till they are completely done and would rather they bake a little more when you're ready to serve them, you can do that too. What you are looking for is the rolls to have risen and they will turn a light brown.