In a large bowl, combine the warm milk and yeast. Let stand for 5 minutes until foamy.
Stir the melted butter, sugar, egg, and salt into the yeast mixture.
Gradually add the flour, mixing until a shaggy dough forms.
Turn the dough out onto a lightly floured surface and knead for 5 to 7 minutes until the dough is smooth and elastic.
Place the dough in a lightly oiled bowl, turning to coat. Cover the bowl with plastic wrap and let it rise in a warm place for 30 minutes, or until doubled in size.
Punch the dough down gently. Divide the dough into 12 equal pieces. Roll each piece into a smooth ball.
Arrange the dough balls in a greased 9×13 inch baking pan, leaving a small space between each roll.
Cover the pan loosely and let the rolls rise again in a warm place for 20 minutes.
Preheat your oven to 375°F (190°C).
Bake for 15 to 18 minutes, or until the tops are golden brown.
Immediately brush the tops of the hot rolls with extra melted butter, or the optional garlic butter glaze.
Serve warm.
Notes
For extra soft rolls, use whole milk instead of low-fat milk in the recipe.
If you are short on time, you can let the first rise happen in a slightly warm oven (turned off) for 20 minutes.
These rolls freeze well after baking; cool completely, place in an airtight bag, and freeze for up to three months. Reheat in a 350°F oven for 10 minutes.