In a large mixing bowl, combine the warm milk, sugar, and yeast. Let it sit for about 5-10 minutes until it becomes frothy.
Add the melted butter, egg, and salt to the yeast mixture. Stir until well combined.
Gradually add the flour, one cup at a time, mixing with a wooden spoon or spatula until a soft dough forms.
Knead the dough on a lightly floured surface for about 5-7 minutes until it becomes smooth and elastic.
Place the dough in a lightly greased bowl and cover it with a kitchen towel. Let it rise in a warm place for about 1 hour, or until it has doubled in size.
Preheat the oven to 375°F (190°C).
Once the dough has risen, punch it down to release the air. Divide the dough into 12 equal pieces and shape each piece into a ball.
Place the dough balls on a lined baking sheet, spacing them about 2 inches apart. Cover them with a towel and let them rise for another 30 minutes.
Bake the rolls in the preheated oven for 15-20 minutes, or until they are golden brown and sound hollow when tapped on the bottom.
Remove from the oven and brush with melted butter, if desired. Serve warm.