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In a large bowl, add flour, sugar, yeast and salt. Whisk the ingredients together.
Make a well in the flour mix and then pour in warmed milk and melted butter. Use a rubber scraper to slowly mix the wet and dry ingredients together. Continue mixing until a cohesive dough forms.
Next, knead the dough for five minutes. Shape the dough into a ball and place it into a lightly greased bowl. Cover and let rest for 15 minutes.
Divide the dough into 12 equal pieces. Shape into dough balls. Add into a greased 9x13 baking pan, seam side down. Cover and let rise in a warm location for 35-40 minutes or until doubled in size.
While rising, in a small bowl, combine the non-dairy milk and maple syrup for the topping. When doubled in size, brush each roll with half of the milk mixture. Place rolls in oven for 20-25 minutes or until golden brown.
Remove from oven. Brush with remaining half of the mixture. Serve warm.