In a large mixing bowl, combine warm milk, sugar, and yeast. Let it sit for 5 minutes until frothy.
Add melted butter and egg to the milk mixture, whisking until combined.
In a separate bowl, mix together flour and salt. Gradually add the flour mixture to the wet ingredients, stirring with a wooden spoon or spatula until a dough forms.
Transfer the dough to a floured surface and knead for about 5-7 minutes until smooth and elastic.
Place the dough in a greased bowl, cover it with a kitchen towel, and let it rise in a warm place for about 1 hour or until doubled in size.
Once risen, punch down the dough and divide it into 12 equal pieces. Shape each piece into a ball.
Place the rolls on a baking sheet lined with parchment paper, spacing them slightly apart. Cover with a towel and let rise for another 30 minutes.
Preheat your oven to 375°F (190°C).
After the second rise, brush the tops of the rolls with melted butter before baking.
Bake for 18-20 minutes or until the rolls are golden brown.
Let them cool slightly before serving. Brush with additional melted butter for extra softness if desired.