Mix the yeast and water in a bowl and let stand for at least five minutes until the yeast is frothy and bubbly.
Add the soymilk, oil, sugar and salt and mix by hand or on low speed in the stand mixer for no more than a minute.
Add three cups of the all purpose flour and then add more gradually until you get a dough that's moist but not sticky.
Knead for 10 minutes by hand or on medium-low speed on the stand mixer until the dough is smooth and elastic.
Transfer the dough to an oiled bowl, turn over once to coat the top with oil, cover with plastic wrap, and place in a warm spot until the dough has doubled, around 1 1/2 hours.
Now punch the dough down and divide into two equal parts. Shape each into a smooth ball and then roll each out to a diameter of about 10-12 inches. If the dough is too resistant, let it relax for a couple of minutes, then try again.
With a pizza cutter, cut eight wedges, as you would a pizza.
Take one wedge, brush the top with a little oil, and then, using your fingers, roll from the broader edge toward the tip, forming a crescent shape. Once you've formed the roll, tuck the ends downward to form the crescent.shape.
Shape all 16 wedges into crescents, placing them at least an inch or two apart on a lightly greased baking sheet.
Brush the tops of the rolls with some oil or with a mixture of soymilk and oil, and allow them to stand, covered loosely with a napkin, until they've doubled in size, about 1 to 1 1/2 hours.
Bake the rolls in a preheated 425-degree oven about 15-20 minutes or until the rolls are golden-brown.
Serve fresh or preheat in the oven if serving leftover rolls.