You could use instant yeast. If using instant yeast, you do not need to dissolve it in milk, you could just add it to the dough.
Make sure your milk is not too hot or it could kill the yeast which will cause your dough not to rise at all. The ideal temperature for the milk should be between 105 F degrees and 110 F for proofing. While 95 F degrees is the best temperature for yeast to multiply, that's not warm enough for proofing active dry yeast.
If after dissolving the yeast in the warm milk, the yeast didn't start to froth up, do not continue with the rolls, your dough will not rise.
To speed up the dough rising process, heat your oven to 200 F degrees. Turn off the oven and place your dough in the oven with the door closed. This will ensure a warm environment for your dough and the dough will rise fairly quickly, assuming the yeast was good.
You could prepare this the day before up until step 7. Cover the pan with plastic wrap and place it in the fridge overnight. The rolls should continue to rise in the fridge but if by morning they have not doubled in size, turn your oven on to 200 F degrees until it warms up, then turn it off. Place the pan in the oven for about 30 to 45 minutes until the rolls double in size. Then you can bake them as instructed.
To freeze unbaked rolls, complete everything up to and including step 7, then wrap the pan in two layers of plastic wrap. Freeze for 8 hours up to 6 weeks. The night before you want to bake the rolls, thaw them out in the refrigerator, still wrapped. They will thaw overnight. Finish the rest of the steps to bake them.
Please keep in mind that nutritional information is a rough estimate and can vary greatly based on products used.