Warm up the milk so it’s just above body temperature (think about 105-115°F).
Pour it into a mixing bowl and add the sugar, then sprinkle the active dry yeast over the top.
Let it sit for 5-10 minutes until it starts to get a bit foamy—that’s how you know your yeast is working!
Add the softened butter, egg, and salt right into the bowl with the foamy milk mixture.
Stir to combine before adding the flour, about a cup at a time.
Mix until you have a soft, smooth dough—it should pull away from the sides of the bowl and be just slightly sticky.
Knead the dough by hand or in a stand mixer for around 6-8 minutes.
Once the dough is elastic, lightly oil a bowl, put the dough in, and cover with a clean towel.
Let the dough rise in a warm place for 1 to 1 1/2 hours, or until it doubles in size.
Gently punch down the dough and turn it out onto a floured surface.
Divide into 12 equal pieces and shape each into a ball, placing them in a greased 9x13-inch baking dish.
Cover again and let the rolls rise for about 30 minutes, until they look puffy.
Preheat your oven to 375°F.
Bake the rolls for 18-22 minutes, or until the tops are golden brown.
Right after they come out, brush them all over with melted butter.