In a large mixing bowl, combine the warm milk, sugar, and yeast. Let it sit for about 5 minutes or until foamy, indicating that the yeast is activated.
Add the softened butter and egg to the milk mixture. Stir well until combined.
Gradually add the flour and salt to the wet ingredients. Mix with a wooden spoon or spatula until a dough forms.
Transfer the dough to a floured surface. Knead the dough for about 6-8 minutes until it becomes smooth and elastic.
Place the kneaded dough into a lightly greased bowl. Cover with a kitchen towel and let it rise in a warm place for about 1 hour or until doubled in size.
After the dough has risen, punch it down to release air. Divide it into 12 equal pieces and shape each piece into a ball.
Arrange the dough balls on a baking sheet lined with parchment paper, spacing them slightly apart. Cover them again and let them rise for another 30 minutes.
Preheat the oven to 375°F (190°C).
Bake for 15-20 minutes, or until the rolls are golden brown on top.
Remove from the oven and brush with melted butter if desired. Serve warm.