I would start with a white bread recipe, you can use maybe 1/4 to 1/3 whole wheat flour instead of the white flour. I personally would recommend using bread flour the first few times. I would not use a mixer, I would do it by hand. My reasoning is you need to learn what the dough is supposed to feel like and look like. Making yeast bread is so much fun because the dough is living once the yeast starts working. I would also use a recipe that does require kneading.
Guard your temperature both the water you add to the yeast and bread and also the temp where you are letting it rise. Hot can kill the yeast, too warm makes the process very quick, too cold can cause it to fail or take much longer. Measure salt carefully and add it with the flour, not to the yeast, water and sugar.
Here is a Traditional Roll Dough recipe from an old Betty Crocker Recipe
1 pkg active dry yeast
1/4 cup warm water (105 to 115 degrees) ( test on wrist like you would for a warm baby bottle)
3/4 cup lukewarm milk, scalded then cooled.
1/4 cup surgar
1tsp salt
1 egg
1/4 cup shortening or soft butter
3 1/2 to 3 3/4 cups plain flour (or bread flour)
Dissolve yeast in warm water, stir in milk, sugar, salt, egg, shortening and 2 cups of flour. Beat until smooth. Mix in enough remaining flour to make dough easy to handle.
Turn dough on lightly floured borard; knead until smooth and elastic, about 5 minutes. Place in a greased bowl; turn greased side up. Cover, let rise in a warm place until double, about 1 1/2 to 2 hours. (dough is read if an impression remains).
Punch down dough. You can roll into balls, roll and cut into pie shape and roll for cresents, cut with biscuit cutter, fit in pan and cut in squares, place 2 or 3 small balls in muffin pan or any other shape you want. Let rise 20 minutes. heat oven to 400 degrees. Bake rolls 15 to 20 minutes.
There are healther and easier recipes out there but this is very good and gives you a feel for the dough. Good luck and enjoy!!