In a large mixing bowl or in the bowl of a stand mixer, whisk warm milk, yeast, and sugar. Let sit 3–5 minutes until a little foamy.
1 cup whole milk, 2 ¼ teaspoons rapid rise instant yeast, 2 Tablespoons sugar
Stir in the melted butter, egg, and salt. Add 2 ½ cups of flour and mix until a shaggy dough forms.
3 Tablespoons unsalted butter, 1 large egg, 1 teaspoon salt, 3 cups all-purpose flour
Gradually knead in the remaining ½ cup flour, working by hand or with a dough hook for about 5 minutes, until smooth and just slightly tacky.
Shape into a ball, cover, and place in a warm spot (oven preheated to 200° F then turned off works great). Let rise 20 minutes, it won’t fully double, but it will puff up noticeably.
Punch down the dough, divide into 12 equal pieces, and shape into smooth balls. Arrange in a buttered 9 × 13-inch baking dish.
Cover loosely with a towel and let rise 15 minutes in that same warm spot. Meanwhile, preheat oven to 375° F.
Bake 15–18 minutes until tops are golden brown. Brush with melted butter immediately after baking.