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Combine milk, yeast and honey in a small bowl; let stand until foamy, about 5 minutes.
In the bowl of an electric mixer fitted with dough hook attachment, beat the milk mixture, butter, egg, salt and 2 cups flour on medium-low speed until a smooth batter forms, about 1-2 minutes.
Gradually add remaining 2 cups flour, ½ cup at a time, until a soft, smooth ball of dough is formed. The dough should feel elastic and slightly tacky to the touch. Increase speed to medium-high and beat for 3 minutes.
Lightly oil a large bowl or coat with nonstick spray; place dough in bowl, turning to coat. Cover with a clean dishtowel and let stand in a warm spot until dough has doubled in size, about 45 minutes to 1 hour.
Gently deflate dough by punching down. Working on a lightly floured surface, roll dough into a ½-inch thick rectangle. Fold in half, gently pressing the edges to seal. Using a rolling pin, roll the dough again into a 12×8-inch rectangle; cut into 15 rolls.
Line 2 baking sheets with parchment paper. Place rolls onto the prepared baking sheets. Cover with a clean dishtowel and let stand in a warm spot until dough has doubled in size, about 30-45 minutes.
Preheat oven to 375 degrees F. Place into oven and bake until golden brown, about 14-16 minutes.
Serve warm, brushed with butter, if desired.