In bread machine or stand mixer, place the lukewarm water, yeast and the ½ tsp of sugar. Allow to rest for a few minutes, until the yeast begins to grow.
Mix the milk, melted butter, beaten egg together, then add to the yeast mixture.
Add the flour, ⅓ cup (70 g) of sugar, and salt, and turn on machine (dough setting on bread machine or use a dough hook if using a stand mixer.) Mix by hand if you aren't using a machine.
Dough will be slightly sticky. Allow cycle to finish on dough setting; with stand mixer, or by hand, when the dough is ready, cover it and let rise on the counter until doubled in size.
After it's risen, punch down the dough, and let rest for 5 minutes. Cut small pieces of the dough and shape into round balls, and place onto a greased cookie sheet (or Silpat sheet.) I weighed mine so they would all be of equal size, but it's really uneccessary unless you are a Type A personality, like me. Place the tray in the oven (do not turn it on) to rise for about half an hour or until doubled in size. (I put a large cup of boiling water in the oven for steam, so the buns don't get a hard crust.)
Once doubled, remove the buns from the oven. Preheat the oven to 350º F (175ºC) then cook the buns for approximately 20 minutes, or until golden brown. While they are baking, prepare the glaze a few minutes before the buns are ready by combining equal amounts (I just did 1 oz/ 30 g each) of sugar and water in a tiny pot (if you have one) and cook just until it starts to boil-remove from heat. Brush the buns with the glaze while they are still hot. Place on a cooling rack after glazing.
When cool, cut bun almost all the way through at an angle (see photo below), fill with whipped cream and dust with confectioner's sugar.