Stir together the milk and sugar in a small bowl until blended.
1 cup milk, ⅓ cup sugar
Add the yeast to the milk and stir to incorporate.
2 ¼ teaspoons active yeast
Allow the yeast mixture to proof for 5 minutes.
Using the dough hook attachment, blend the egg, melted butter, and salt in a mixing bowl until mixed well.
1 egg, ⅓ cup butter, 1 teaspoon salt
Alternate adding the flour, about a half cup, and milk.
3 cups all purpose flour
Blend until a shaggy dough forms.
Transfer the dough to a greased bowl, turn once.
Cover with plastic wrap or a damp towel and leave at room temperature in a warm place to rise for an hour.
Punch the dough down and turn it out on a lightly floured surface.
Let the dough rest for ten minutes.
Shape the dough into a rectangle and roll until about an inch thick.
Cut the dough into 15 smaller rectangles.
Transfer the dough to a larger baking sheet lined with parchment paper or cooking spray.
Cover and allow the dough to rise for 30 minutes.
Preheat the oven to 375 degrees.
Bake the yeast rolls for 10-15 minutes or until golden brown.
If desired, brush with additional melted butter.