Preheat oven to 400F. Grease two 8-inch round cake pans with nonstick spray. Set aside.
In a large mixing bowl, combine warm water, yeast, and sugar. Let sit for a few minutes to allow the yeast to get foamy.
Add 3 cups of Bisquick baking mix to the bowl, stirring to incorporate into a dough. If the mixture seems pretty sticky, add another 1/4 cup of baking mix and stir.
Turn the dough out onto a lightly floured surface and knead for about 5 minutes, then divide the dough into 18 pieces (a pizza cutter, knife, or bench scraper is useful for this).
Using floured hands, roll each piece into a ball, then place eight rounds of dough into each prepared pan.
Loosely cover the pans and let dough rise in a warm place for 30 minutes, or until the rolls have roughly doubled in size.
Bake in preheated oven for 10-14 minutes, or until golden-brown on top.
Remove from oven and, if desired, rub the tops of the warm rolls with a tablespoon of butter.
Notes
These rolls are best when served warm, right out of the oven, when they're softest. When they're served as leftovers, I find they tend to be more dry, so I recommend eating them freshly-baked!
Feel free to halve the recipe if you only need one pan of rolls.