In a large mixing bowl, combine the warm milk, sugar, and yeast. Let it sit for about 5 minutes until it becomes frothy.
Add the melted butter and the egg to the yeast mixture, and stir until well combined.
Gradually add the flour and salt to the mixture. You can use a stand mixer with a dough hook or mix by hand with a spoon until a dough forms.
If using a stand mixer, knead the dough on medium speed for about 5 minutes or until it is smooth and elastic. If mixing by hand, knead the dough on a floured surface for the same amount of time.
Place the dough in a greased bowl, cover it with a clean kitchen towel or plastic wrap, and let it rise in a warm place for about 1 hour, or until it doubles in size.
After the dough has risen, punch it down gently and divide it into 12 equal pieces. Shape each piece into a ball and place them on a baking sheet lined with parchment paper, spaced apart.
Cover the rolls again with the kitchen towel and let them rise for an additional 30 minutes, or until they have doubled in size.
Preheat your oven to 350°F (175°C).
Once the rolls have risen, brush the tops with melted butter if desired.
Bake for 15-20 minutes, or until the tops are golden brown.
Remove from the oven and let cool slightly before serving.