In a large mixing bowl, dissolve yeast in warm water and let it sit for 5 minutes until foamy.
Add sugar, evaporated milk, melted butter, egg yolks, and salt. Mix until combined.
Gradually stir in flour, 1 cup at a time, until a soft dough forms.
Knead the dough on a floured surface for 8–10 minutes until smooth and elastic.
Place the dough in a greased bowl, cover, and let rise for 1 to 2 hours or until doubled in size.
Punch down the dough and roll it out into a rectangle. Cut into 8-10 long strips.
Roll each strip into a coil, tucking the ends underneath.
Place rolls on a greased baking sheet, cover, and let rise for another 30–45 minutes.
Bake at 350°F for 15–20 minutes or until lightly golden.
Cool slightly and generously dust with powdered sugar before serving.