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Manual Method:.
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In a large bowl, or the bowl of your electric mixer, combine all of the ingredients, stirring till the dough forms a cohesive mass and begins to clear the sides of the bowl.
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Knead the dough for 5 minutes, then allow it to rest for 10 minutes (which gives the dough a chance to absorb the liquid, and the gluten in the flour a chance to relax.)
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Knead the dough for an additional 5 minutes, or until it's smooth and supple.
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The dough should be quite stiff, but not at all "gnarly;" adjust its consistency with additional flour or water, as necessary.
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Transfer the dough to a lightly greased bowl or dough-rising bucket, cover the bowl or bucket, and allow the dough to rise till it's noticeably puffy, about 1 hour.
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Bread Machine Method:.
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Place all of the ingredients into the pan of your machine, program the machine for manual or dough, and press start.
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About 10 minutes before the end of the final kneading cycle, examine the dough's consistency; it should be quite stiff, but not at all "gnarly;" adjust it consistency with additional flour or water, as necessary.
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Allow the machine to complete its cycle.
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Shaping:.
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Transfer the dough to a lightly greased work surface, and divide it into six equal pieces.
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Shape the pieces into round balls, and place them on a lightly greased or parchment lined baking sheet.
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Working with one ball of dough at a time, center your kaiser stamp over the dough.
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Press down frimly, cutting to the bottom but not all the way through the dough. This is important; if you don't cut deeply enough, the shape disappears as the roll bakes; if you cut too deeply (all the way through), the roll will form "petals" as it rises and look like a daisy, not a kaiser roll. Practice makes perfect!
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Repeat with the remaining rolls.
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Place the rolls cut-side down (yes-cut-side down--this helps them retain their shape) onto a lightly greased or parchment-lined baking sheet.
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Cover the rolls, and allow them to rise for 45 minutes to 1 hour, or until they've almost doubled in volume.
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Turn the rolls cut-side up.
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Dip tops in milk and coat with poppy or sesame seeds, if desired.
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Bake the rolls in a preheated 425°F oven vor 15 to 17 minutes, or until they're golden brown.
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Remove them from the oven, and cool on a wire rack.