Prepare the Ingredients - Add 5 cups flour, yeast, and salt to the bowl of a stand mixer. Use a hand whisk to combine. Add the brown sugar, 1 egg, apple cider vinegar, and vanilla.In a microwave-safe bowl, add 1⁄2 cup milk, pineapple juice, 6 tablespoons melted butter, and honey, and whisk to combine. Microwave in 20-second increments until the mixture reaches 120 to 130°F (49 to 54°C), about 90 seconds.
Knead the Dough - Set the mixer with a greased dough hook to low speed and gradually add the warm liquid mixture. Scrape the sides of the bowl with a spatula as needed to incorporate. Knead the dough on low until it begins to pull away from the bowl, 2 minutes.Increase the speed to medium-low and knead until the dough is elastic and smooth in texture, about 7 minutes. The dough should start to clear the sides of the bowl but will be sticky on the bottom. If the dough is still wet or very sticky, add ¼ cup of additional flour, mixing on low speed for 1 minute. If needed, add another 1⁄4 cup of flour until the desired texture is achieved and a slightly sticky ball forms. Use as little added flour as possible.
Rest the Dough - Transfer the dough to a lightly floured surface. Cover and allow to rest for 10 minutes. Grease a 9x13-inch pan with cooking spray and set aside.
Shape the Rolls - Cut the dough into 18 even-sized pieces, about 2 ½ to 3 ounces (71 to 81g) in weight. Roll the pieces into balls with smooth tops, lightly flouring the work surface as needed.
Let the Dough Rise - Place the dough balls into the greased pan, 3 balls per row, 6 rows total. Leave about 1⁄2-inch around the corners of the pan. Loosely cover it with plastic wrap or a kitchen towel and place it in a warm, draft-free area. Allow the dough to rise and double in size for 30 to 60 minutes. They should be touching each other and nearly filling the pan.
Preheat the Oven - Adjust the oven rack to the lower-middle position and preheat to 350°F (177°C).
Brush with Egg Wash - In a small bowl, whisk together 1 egg and 1 tablespoon of milk. Brush the egg wash on the tops and sides.
Bake - Place the pan in the oven and bake until golden brown and shiny on the surface, 18 to 25 minutes. Make sure to rotate the pan halfway through baking.
Cool Briefly and Serve - Cool the pan on a wire rack for 10 minutes. Brush the rolls with 2 tablespoons of melted butter. Remove them from the tray and serve immediately while warm.
Notes
Storing: Store in an airtight container for up to 3 days or freeze for up to 1 month.
Reheating Room Temperature Rolls: Reheat in the microwave on high power for 30 to 60 seconds. Alternatively, warm in the oven at 300ºF (149ºC) on a sheet pan for 10 to 15 minutes.
Reheating Frozen Rolls: Reheat in the microwave on high power for 60 to 75 seconds. Alternatively, warm in the oven at 300ºF (149ºC) on a sheet pan for 15 to 20 minutes.