Summarize this article:

The evening before you will need them, take the rolls out of the freezer and leave them on the counter to come to room temperature. If they are covered with foil, go ahead and loosen it to allow some air to circulate. If the rolls were frozen in a pan, it is fine to leave them that way, just make sure to give them ample time to warm prior to baking. If you’ve stored your rolls in the refrigerator, then you can shorten the thawing time quite a bit. Usually 10 minutes is sufficient to thaw rolls not encased in a container. You may need to go up to 30 minutes if the rolls are packaged. If the rolls are individually wrapped, then unwrap each of them before setting them out to thaw. It is best if the rolls are not touching. If the rolls are wrapped as part of a package, loosen the covering or remove it entirely to prepare for baking.

Summary:
Leave them overnight on the counter. Thaw refrigerated rolls for 10 minutes. Loosen any coverings.