Warm the milk in the microwave until it's comfortably warm to the touch. Sprinkle the yeast and sugar over the warm milk and let it sit for about 5 minutes until frothy.

In a large mixing bowl, combine the gluten-free flour and salt. Create a well in the center and pour in the yeast mixture, melted butter, eggs, and vanilla extract. Mix in the crushed pineapple if using.

Using a stand mixer with a dough hook, mix the ingredients on medium speed for about 4-5 minutes until the dough is slightly sticky but pulls away from the sides of the bowl. Add more flour if necessary.

Transfer the dough to a greased bowl and cover with a clean kitchen towel. Let it rise in a warm area until it doubles in size, about 1 hour.

Once risen, punch the dough down gently to release air bubbles. Divide into 12 equal portions and shape each into a ball. Place in a greased baking dish, ensuring they are snug but not overcrowded.

Preheat your oven to 375°F (190°C). Cover the rolls with a towel and let them rise for another 30 minutes.

Bake the rolls for 25-30 minutes, until golden brown on top. Brush with melted butter upon removal for added flavor.