Whisk the warm milk, water, yeast, and honey in the bowl of a stand mixer fitted with a dough hook or paddle attachment. Cover and allow to sit for 5-8 minutes until mixture is foamy.
Mix flours and salt in a big bowl.
Add butter to the yeast mixture. Turn on the stand mixer on low speed. Slowly add the flour mixture, keep beating until the dough pulls away from the bottom of the bowl and a dough forms. Continue kneading the dough on low speed for 5-8 minutes until smooth and pliable. NOTE: If you do not own a mixer, you can mix this dough with a large wooden spoon or rubber spatula. It will take a bit of arm muscle but it's doable.
Lightly grease a large bowl with oil or nonstick spray. Place the dough in the bowl. Cover and let rise for 1-2 hour at room temperature, or until double in size. When the dough is ready, punch it down to release the air.
Dust your work surface with a little flour and turn the risen dough out on top; punch it down to release the air. Divide the dough into 16 pieces. Shape each piece into a smooth ball. I do this entirely in my hands, so take one piece just roll the dough against the counter until round and smooth.
Grease a large baking sheet.
Place the balls on the prepared baking sheet, cover, and let rest for 30 minutes or until puffy.
Preheat oven to 425º F.
Brush each roll generously with whole milk, then sprinkle with sesame seeds and pretzel salt, if desired.
Bake 20 minutes until rolls are golden brown and baked through. Remove them from the oven, and transfer to a rack to cool. Optional: Brush the tops of the rolls with melted butter, for a softer, richer flavored crust.