In the bowl of a stand mixer fitted with a dough hook, combine flour, sugar, yeast, and salt. Mix on low speed until everything is well blended. Add the milk, oil, eggs, and egg yolk, and mix until the dough becomes shaggy, about 2 minutes. Increase the speed to medium and continue mixing for about 10 minutes, until the dough is smooth and pulls away from the sides of the bowl (it will still be sticky and remain at the bottom). Use a bowl scraper to transfer the dough to a lightly oiled large bowl, cover loosely with plastic wrap, and let it rise at room temperature (75°F/24°C) for about 1 1/2 hours, or until it doubles in size.
Line a rimmed baking sheet with parchment paper and fill a shallow bowl with breadcrumbs. Turn the dough out onto a floured surface, being careful not to deflate it. Divide the dough into 16 equal pieces (each about 2 1/3 ounces or 65g). Take one portion and roll it into a smooth ball by cupping your hand and making quick circular motions. Coat the ball in breadcrumbs, then place it on the prepared baking sheet. Repeat with the remaining dough portions, spacing them about 1 inch apart. Loosely cover the dough with plastic wrap and let it rise for about 1 hour, or until nearly doubled in size. Alternatively, cover tightly and refrigerate overnight for 10 to 12 hours until puffed and soft.
Thirty minutes before baking, adjust the oven rack to the middle position and preheat to 350°F (180°C). Bake the pandesal for about 20 minutes, or until golden brown and puffed. Remove from the oven and serve immediately.