Combine the pineapple juice and milk in a microwave-safe container and heat until lukewarm.

Stir in the sugar and yeast until dissolved. Let the mixture rest for 5–10 minutes, or until foamy.

Add the yeast mixture and all remaining ingredients to a stand mixer fitted with a dough hook (the dough may also be mixed by hand). Mix for 8–10 minutes, until the dough is soft and slightly tacky.

Transfer the dough to a greased bowl, cover, and place in a warm area of the kitchen. Let rise for about 1 hour, or until doubled in size.

Divide the dough into 12 equal portions and shape into balls. Arrange the rolls in a greased baking pan so they are just touching. Cover and let rise for 30 minutes.

Bake at 350°F for 20 minutes, or until lightly golden.