In a large mixing bowl, combine warm milk, yeast, and sugar. Let it sit for about 5 minutes until frothy.
Add melted butter, beaten egg, and salt to the yeast mixture. Mix well.
Gradually add flour, one cup at a time, mixing well after each addition. Knead the dough for about 5-7 minutes until smooth and elastic.
Place the dough in a greased bowl, cover with a damp cloth, and let it rise in a warm place for about 1 hour or until doubled in size.
Punch down the dough and divide it into 12 equal pieces. Shape each piece into a roll and place on a greased baking sheet. Cover and let rise for another 30 minutes.
Preheat the oven to 375°F (190°C). Bake the rolls for 12-15 minutes or until golden brown.
Remove from oven and brush with additional melted butter if desired. Serve warm.