Combine warm milk, salt, sugar, oil in a measuring cup or bowl pour over bread flour; mix and turn dough to floured work surface.
Knead for about 8 minutes by hand, form dough into a ball and put in a greased bowl; cover and let rise for about an hour in a warm place.
Punch risen dough down and flatten into a rectangle about 16x3 inches. Starting at one end, roll up the dough with the right hand while sealing with the left hand to form cylindrical strip of dough.
Sprinkle top of dough with breadcrumbs; let rest for about 15-20 minutes. Cut dough into 12-14 equal pieces; place in baking sheets and let it rise until light.
Preheat oven to 350 F degrees. Bake pan de sal for about 15 minutes or until top is browned. Serve warm with hot coffee or hot chocolate.