Activate the yeast: In a small bowl, combine warm, plant-based milk (110°F / 43°C), honey, and active dry yeast. Stir gently and let sit 5–10 minutes until foamy and bubbly.
Mix dry ingredients in a large bowl (millet, sorghum, tapioca, psyllium, baking powder, and salt).
Combine wet ingredients (plant-based milk + yeast mixture, egg, melted plant-based butter, vinegar) into the dry ingredients.
Dough should be soft, slightly sticky, and thick.
Let rest 5–7 minutes for psyllium to fully hydrate.
Shape rolls: lightly oil hands and form 6 rolls. Place on a greased or parchment-lined baking sheet.
Rise: cover loosely and let rise in a warm spot 45–60 minutes, until puffy (not necessarily doubled). Optional: Sprinkle with sesame seeds.
Preheat oven to 375°F (190°C).
Bake: 18–22 minutes, until tops are lightly golden and internal temp ~200°F (93°C).
Cool slightly (10 minutes) and serve warm.