Can I bake Hawaiian rolls the night before a pulled pork dinner, or will they go stale?

Baking them Friday is totally fine, and honestly that's what I do every time I make a batch for sandwiches. The reason store-bought rolls stay soft forever is all the dough conditioners and preservatives they pump into them, but a homemade enriched dough (milk, butter, eggs, a bit of sugar) keeps pretty well on its own for a day or two. Hawaiian-style rolls are basicly the best case scenario since that sugar and fat keeps them tender way longer than a crusty lean dough would. Staling has more to do with what's in the dough than when you baked it. What's worked for me: let them cool completly on a rack first, like fully cool to the touch. Then bag them while still slightly on the cool side. I use a big ziplock or wrap the whole batch in plastic wrap and then foil over that. If you wrap them warm you'll trap steam and get soggy or sticky tops. Left on the counter overnight they're fine. Skip the fridge unless your kitchen runs hot, refrigeration actually firms up the crumb faster than the counter does.

On the butter brush, I'd split it. Do a light brush right out of the oven Friday for flavor, but save the real glossy coat for right before serving. That shine is what fades overnight, and a fresh brush on warm rolls brings it right back. Reheat them first, then brush, then give them maybe two or three more minutes if you want the top to set a bit. A quick 300 degree oven for five or so minutes warms them through without drying them out. Some people like a foil tent over the pan so the tops don't brown any further.

One small tip: if your pork is allready handled, you can even split the rolls and warm the halves cut side down on a griddle with a little butter. Toasted cut side plus pulled pork plus slaw is hard to beat.

Another option if you'd rather have warm-from-the-oven rolls Saturday: I've done the overnight fridge proof with this kind of dough plenty of times. Shape the rolls Friday, put the pan in a big bag or cover it well, and let them do their final rise in the fridge overnight. Next day pull them out while the oven heats, give them 30 min or so on the counter, then bake. You lose nothing on texture and the timing lines up with when the pork comes off. Only catch is you can't brush before the bake or they can get spotty, so all the butter goes on after they come out anyway.

Been making dinner rolls for church suppers since the 80s and one thing my mother taught me that still works: put a shallow pan of water on the rack below when you reheat. The steam softens the crust back up better than butter alone ever did. Also, if you've got a real bread box or even a clean cooler with the lid cracked, that beats a plastic bag for overnight storage, no sticky tops. Old trick for the pineapple flavor too, a spoonful of the juice from the can in the dough, that's how the old Portuguese bakeries around here did it before everybody started calling them Hawaiian.