Combine 1 cup flour, dry yeast and salt in bowl of your stand mixer fitted with the paddle attachment and stir until blended.
Combine milk, water, butter, and agave in a small microwave-safe bowl. Microwave in 20 second increments until very warm but not hot to the touch. Add to flour mixture.
Mix for 2 minutes on medium speed, scraping the sides of the bowl as needed. Add in ½ cup more flour mix for 2 more minutes on high speed. Stir in just enough of the remaining flour (¾ to 1 cup) so that the dough will form into a ball.
Replace the paddle attachment for the dough hook attachment and mix on medium speed for 8 minutes, until the dough is smooth and elastic and springs back when lightly pressed with 2 fingers. Alternately you can kneading the dough on a lightly floured surface for 8-10 minutes.
Cover with a towel and let rest for 10 minutes.
Cut the dough into 12 equal pieces and shape into balls using your hands. I like to wrap the dough around and tuck it underneath to get nice smooth rolls.
Place in a parchment-lined 8-inch round or square pan. Cover the rolls with a towel and let them rise in a warm place, until they’re doubled in size, about 30 minutes.
Bake rolls in preheated 375ºF oven for 20-25 minutes or until golden brown.
Once out of the oven, you can (optionally) brush with a little melted butter and agave (or honey) to get a beautiful shine and add a little sweetness.