1. Proof the yeast by combining warm water and sugar in a bowl, stirring to dissolve, sprinkling yeast on top, and letting it sit for 5 minutes until foamy.
2. Mix the milk, melted butter, beaten egg, and salt into the yeast mixture, stirring well.
3. Gradually add flour to the mixture using a stand mixer, starting on low speed and increasing as needed, to form a smooth dough.
4. Knead the dough until it becomes soft and elastic.
5. Transfer the dough to a greased bowl, cover it with plastic wrap or a damp cloth, and let it rise in a warm area until it doubles in size (1 to 2 hours).
6. Once risen, punch down the dough to release air and divide it into equal portions.
7. Shape each portion into a ball and place them in a 9×13″ baking dish lined with parchment paper.
8. Allow the rolls to rise a second time until puffy, which takes about 30 to 60 minutes.
9. Preheat the oven to 350°F while the rolls complete the second rise.
10. Bake the rolls for 20-25 minutes or until they develop a golden brown color.
11. Brush melted butter on the freshly baked rolls for extra flavor.
12. Let the rolls cool slightly before serving.