I've made several generic bread so far using all purpose flour, water,
sugar, salt, olive oil, yeast.

The resulting bread has a dry feel to it. How do I make it softer and less
dry, like a hotdog bun, or loaf of white bread?

Should I add more water to the dough? More oil? Add milk? Bake it shorter
time?

BTW, why is hotdog bun slightly yellowish?