Place the yeast and sugar in the bowl of a stand mixer fitted with a dough hook or paddle attachment. Heat the milk until warm to touch, about 110°F (43°C). Pour warm milk on top of yeast/sugar. Whisk gently to combine, then loosely cover and allow to sit for 5-10 minutes.
Add the butter, egg, flour, salt, garlic powder, and rosemary. Beat on low speed until the dough comes together and pulls away from the sides of the bowl, about 3 minutes. If the dough isn’t pulling away, add more flour as needed.
Knead the dough for an additional 5 minutes in the mixer or by hand on a floured surface. The dough should feel soft and slightly tacky.
Shape the kneaded dough into a ball, place in a greased bowl, cover, and let rise until doubled in size, about 60-90 minutes.
Prepare the filling by mixing the soft butter, rosemary, parsley, garlic, and salt together. Set aside.
Punch down the dough and divide it into 12 equal pieces. Flatten each into a circle about 4 inches in diameter. Spread 1-2 teaspoons of filling on each and sprinkle with cheese. Fold circles in half and line in a greased loaf pan.
Cover and allow to rise until puffy, about 45 minutes.
Preheat oven to 350°F (177°C) and bake until golden brown, about 50 minutes. Tent with foil if browning too quickly.
Cool for 10 minutes in the pan, then remove and serve warm.
