In a large bowl of a stand mixer, combine together flour, sugar and yeast. Use the dough hook attachment and add all the milk and begin to knead the dough.
Knead the dough for 6-8 minutes, or for 8-10 minutes if kneading by hand. Ensure to knead the dough till it is soft and supple. When it is almost done, add the melted butter and salt, and knead for 1-2 minutes or until it has combined. Add a little flour, if necessary, while kneading. The dough will seem sticky at first but will change texture as you knead it.
Once done, shape the dough into a large ball. Lightly brush the dough with some oil.
Prep the Instant Pot for proofing the dough. Brush the base and sides of the inner pot with the remaining oil. Place the dough directly into the inner pot. Cover the Instant Pot with a glass lid or aluminium foil. Do not use the Instant Pot lid.
Turn ON the Instant Pot and select the YOGURT function on LOW and set ab external timer to 30 minutes (the timer on the IP won't beep when you use the yogurt function). Once your timer beeps, check to ensure that the dough has doubled in size and proved sufficiently. If it hasn't doubled, leave it for another 5 minutes. Press CANCEL and turn OFF the Instant Pot.
Remove the dough from the inner pot and shape into dinner rolls or burger buns. Place them on a greased and lined baking tray. Cover and allow to proof on the bench for 20 minutes further.
Preheat the oven to 180C.
Lightly brush the rolls with some milk. Sprinkle some sesame seeds if you like. Bake in a preheated oven for 20-25 minutes or until the tops are golden brown.