Cake yeast rolls recipe missing part of flour measurement

First off, it's good to understand the difference between active dry yeast and rapid rise yeast. Active dry yeast is a larger granule of yeast in which the outer shell is composed of mostly dead cells entombing the dormant nougaty goodness inside. It has to be proofed to seperate out all the cells and rehydrate the interior active cells.

Rapid rise yeast is a typically a combination of 2 different strains of yeast (so those with a very discerning palate might be able to tell the difference, I've never really tried). The granules of yeast are smaller and dried slower to preserve more yeast cells. Ascorbic acid is also added to push the yeast into overdrive a little faster.

A great video that helped me a lot is http://how2heroes.com/videos/dessert-and-baked-goods/yeast-101 I have noticed before issues with Rapid Rise yeast not proofing very well the second time around. Apparently it's designed to give you one really good proof and then die out (play hard and die young). Instant yeast however is Rapid Rise yeast without the hardcore party attitude. It's what they use at the King Arthur bakery test kitchen, so that's good enough for me! They say to use them interchangeably, but many other sites I see show a difference of about 20%.

2 Tbsp Active Dry yeast ≈ 1.6 Tbsp Instant Yeast

I would put the milk in a glass, and then put that glass in a large pot filled with warm water, this should help get the milk up to temp quickly with out haveing to worry about going over. When ever I use yeast i always shoot for around 100 F. Since body temp is 98.6, just stick your finger (clean finger) in the liquid and if it feels slightly warm you should be good to go.