I can answer this question....you can use scalded whole milk if you want to.
This is a recipe my mother got from the label of a pet milk can in the 30s. I think it was a marketing attempt to persuade housewives that they could substitute canned condensed milk in their baking.
Pet or Carnation milk is unsweetened, tho there may be a sweetened version. I think there is a slight difference in flavor when you use whole milk, and its the condensed milk flavor that three generations of my family grew up with and love.
My sister Vicki doubled the sugar and yeast in the recipe, the original used half the amount Jay listed. Jay and I use butter, the sisters still use shortening, as the original recipe called ofr. If you like a denser, less sweet roll, just act accordingly.
I love recipe drift, and this one certainly is a good example of drift.