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PdfActivate the yeast: Warm milk to about 100–110°F (warm to the touch, not hot). Stir in sugar + yeast. Let sit 5–10 minutes until foamy.
Make the dough: Add melted butter + egg to the yeast mixture. Mix in salt and 3 cups flour. Knead (by hand or mixer) until smooth and slightly tacky. Add more flour a little at a time if too sticky.
First rise: Place in a greased bowl. Cover and let rise 1–1½ hours, until doubled.
Shape the rolls: Punch down dough. Divide into 12–15 pieces. Roll into balls and place in a buttered 9x13 pan (They should be close but not squished).
Second rise: Cover and let rise 30–45 minutes. They should look puffy and touching each other.
Bake: Bake at 375°F for 15–18 minutes. Tops should be lightly golden.
Finish: Brush generously with melted butter immediately after baking.