Mix warm water and yeast in a standing mixer or large bowl. Let it sit until dissolved (about 5 minutes).
Meanwhile, in a medium bowl, combine milk, melted butter, sugar, salt, garlic powder, and minced rosemary. Stir until everything is well-mixed.
Pour the milk mixture into the yeast mixture and mix thoroughly.
Add about 3¼ cups of flour and continue mixing the dough. Add additional flour (if needed) to make a soft dough. Use less flour rather than more.
Transfer the dough to a lightly floured surface. Knead for 6-8 minutes or until the dough is nice and smooth.
Place dough in a greased bowl, turning once to coat the dough. Cover loosely with a clean cloth and let rise in a warm place for 1½ to 2 hours or until doubled.
Punch the dough down and place it on a clean flat surface or board.
Next, divide the dough into 20-24 pieces, and roll to form even balls (for accuracy, use a food scale).
As you roll each ball, place it into a 9×13 greased pan or baking sheet. (Place the baking pan on a cookie sheet to prevent the rolls from burning on the bottom.)
Cover with a clean cloth and let rise in a warm place for about 20 minutes or until doubled.
Brush rolls with egg wash and bake at 350℉/177℃ for 15-20 minutes, or until golden brown.