In the bowl of stand mixer, add the milk and 1/2 tsp of brown sugar. Whisk in the yeast. Cover bowl and set aside for 8-10 minutes. Yeast mixture should take on a foamy appearance with a fermented aroma.
Add the flour, salt, remaining sugar, pineapple juice and egg into bowl with yeast mixture.
With the dough hook attached, mix the dough ingredients together at low speed until a shaggy dough forms. At this point, mix in the butter a little at a time until all of the butter has been mixed into the dough.
Increase mixture speed to medium high and knead the dough for 6 minutes. The resulting dough should be soft touch, slightly tacky but not over sticky.
Transfer dough to a lightly greased bowl, cover with plastic wrap and place in a warm area to rise until doubled in size, about 60-90 minutes.
Deflate risen dough. Let dough sit for 5 minutes and divide into (9) equal portions. Shape each portion of dough into even sized rolls and transfer to a parchment paper lined 9x9 inch square baking pan.
Lightly cover baking pan with plastic wrap and let rolls undergo a second rise for 30-35 minutes or until doubled in size.
Preheat oven to 350F. In a small dish, whisk together the egg and water to make egg wash. Use a pastry brush to apply egg wash over the surface of risen rolls.
Bake the rolls for 25-30 minutes or until a toothpick inserted into one of the rolls comes out clean and the rolls have taken on a rich golden brown color.
Rest rolls in baking pan for 5-6 minutes before carefully removing and transferring to a cooling rack to cool to room temperature.
Eat rolls as is or use cooled rolls in your favorite recipes. Enjoy!