In a small bowl, dissolve the yeast in warm water and let it sit until frothy, about 5-10 minutes.
Next, in a large mixing bowl, sift the flour, sugar and salt together.
In a separate bowl, combine the lukewarm milk, beaten eggs, softened butter and frothy yeast mixture, and mix well.
Gradually add the wet ingredients to the dry ingredients, stirring until a sticky dough forms.
Transfer the dough to a floured surface and knead for about 10 minutes, until smooth and elastic.
Place the dough in a greased bowl, cover with a clean cloth, and let it rise in a warm place until doubled in size, about 1 hour.
Punch down the dough and divide it into 24 equal pieces. Shape each piece into a ball.
Roll each ball in breadcrumbs to coat and place on a baking sheet, leaving space between each roll.
Cover the rolls with a cloth and let them rise again until nearly doubled, about 30 minutes.
Preheat the oven to 350°F. Bake the pandesal for 20 minutes, or until golden brown.
Remove from the oven and serve warm.