In a large bowl, dissolve yeast and 2 teaspoons sugar in water. Add milk, butter, eggs, salt, remaining sugar and 4 cups flour; beat on low for 3 minutes or until smooth. Stir in enough remaining flour to form a soft dough. Turn onto a floured surface; knead until smooth and elastic, about 6-8 minutes. Place in a greased bowl, turning once to grease top. Cover and let rise in a warm place until doubled, about 1 hour. Punch dough down. Divide into four portions. Cover three with plastic wrap. Shape one portion into 12 balls; roll each ball into an 8-in. rope. Tie into a knot; tuck ends under. Pinch to seal. Place 2 in. apart on greased baking sheets. Repeat with remaining three portions. Cover and let rise until doubled, about 25 minutes. Beat egg yolk and water; brush over dough. Sprinkle with sesame seeds if desired. Bake at 375° for 12-15 minutes or until golden brown.
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