Try these. The recipe came from a home cooking message board where I've found lots of wonderful recipes. They're pretty soft, but may not be what you're looking for. It's not necessary to use a bread machine.
1 cup water
2 Tablespoons butter or margarine
3-1/4 cups all-purpose, unbleached flour
1/4 cup sugar
1 teaspoon salt
1 Tablespoon instant yeast
Place all ingredients in your bread machine. Select ‘dough’ cycle. Allow cycle to run.
Dump out onto lightly floured surface. Divide into 8 pieces. Slap each piece into a bun shape. Usually 4 or 5 slaps will do it. Place on greased cookie sheets (or bun pans), cover; let rise 30 to 40 minutes.
Bake in preheated 375 degree oven for 12 to 15 minutes until golden. Cool on wire racks.
(You may add a teaspoon of onion powder and about ½ teaspoon dried onion to make the dough. It makes a light onion-y flavor that is wonderful!) For burgers, split and grill if desired.
To make by hand: Simply mix and knead the dough by whatever method you prefer. Let it rise for about an hour before shaping into eight big buns. (Or whatever shapes you prefer; hot dog buns, dinner rolls, etc.)