In a mixing bowl, combine warm milk, sugar, and yeast. Let sit for 5-10 minutes, or until foamy.
Add melted butter and egg to the yeast mixture, whisking until combined.
In a separate bowl, mix the flour and salt.
Gradually add the flour mixture to the wet ingredients, either using a dough hook on a mixer or a wooden spoon, until the dough begins to form.
Knead the dough on a floured surface for about 5-7 minutes until it is smooth and elastic.
Place the dough in a greased bowl, cover with plastic wrap, and let it rise in a warm place for about 1 hour, or until doubled in size.
Once risen, punch the dough down and turn it out onto a floured surface. Divide it into 12 equal pieces.
Shape each piece into a ball and place them on a baking sheet lined with parchment paper, leaving space between each roll.
Cover the rolls with a clean towel, and let them rise again for about 30 minutes, until puffy.
Preheat the oven to 375°F (190°C).
Bake the rolls for 15-20 minutes or until golden brown on top.
Remove from the oven and brush with additional melted butter if desired. Serve warm.