In a small saucepan, warm the milk over low heat until it's just lukewarm. Remove from heat and sprinkle the yeast over the milk. Let it sit for about 5 minutes or until frothy.
In a mixing bowl, combine the flour, sugar, and salt. Make a well in the center and add the yeast mixture and melted butter. Mix to form a dough.
Transfer the dough to a floured surface and knead for about 8-10 minutes until smooth and elastic. Place in a greased bowl, cover with plastic wrap or a towel, and let it rise in a warm place for about 1 hour, or until doubled in size.
While the dough is rising, mix chopped parsley, basil, minced garlic, and grated Parmesan cheese in a small bowl. Set aside.
Once the dough has risen, punch it down and roll it out on a floured surface into a rectangle about ¼ inch thick.
Brush the dough with olive oil and sprinkle the herb-garlic mixture evenly over it.
Starting from one long side, tightly roll the dough into a log. Pinch the seam to seal. Slice the log into 12 equal pieces.
Place the rolls on a parchment-lined baking sheet. Cover with a towel and let them rise for another 30 minutes.
Preheat the oven to 375°F (190°C). Bake the rolls in the preheated oven for about 20-25 minutes until golden brown.
Brush the warm rolls with melted butter before serving.