In a small bowl, combine the warm milk and sugar. Sprinkle the yeast over the top and let it sit for about 5-10 minutes until frothy.
In a large mixing bowl, whisk together the flour and salt.
Once the yeast mixture is frothy, add it to the flour mixture along with the melted butter and eggs. Mix until the dough starts to come together.
If using a stand mixer, fit it with a dough hook and knead on low speed for about 5-7 minutes until the dough is smooth and elastic. If kneading by hand, turn the dough out onto a floured surface and knead for about 8-10 minutes.
Place the dough in a lightly greased bowl, cover it with a clean kitchen towel, and let it rise in a warm place until doubled in size, about 1 hour.
After the dough has risen, punch it down and divide it into 12 equal pieces. Roll each piece into a ball and place them on a baking sheet lined with parchment paper or greased.
Cover the rolls with the kitchen towel and let them rise again for about 30 minutes, until puffed.
Preheat your oven to 350°F (175°C). Bake the rolls for 15-20 minutes, or until golden brown.
Remove the rolls from the oven and brush the tops with melted butter if desired. Let them cool slightly before serving.