Activate the Yeast: In a small bowl, combine warm water and sugar. Stir until the sugar dissolves. Sprinkle the yeast on top of the water and let it sit for about 5-10 minutes, until it becomes foamy.
Prepare the Dough: In a large bowl (or the bowl of a stand mixer), combine the flour and salt. Make a well in the center and pour in the yeast mixture, melted butter, and warm milk. Mix with a wooden spoon or use a dough hook in your stand mixer to combine the ingredients into a dough.
Knead the Dough: If kneading by hand, transfer the dough to a floured surface and knead for 8-10 minutes until smooth and elastic. If using a stand mixer, knead with the dough hook on medium speed for about 5-7 minutes.
First Rise: Place the dough in a lightly greased bowl, cover with a clean kitchen towel, and let it rise in a warm place for about 1-1.5 hours, or until it has doubled in size.
Shape the Rolls: Punch down the dough to release the air. Divide it into 12-16 equal portions (depending on the size of rolls you prefer). Roll each portion into a smooth ball and place them on a greased baking sheet or in a round baking pan.
Second Rise : Cover the shaped rolls with a kitchen towel and let them rise for about 30-45 minutes until they’ve doubled in size.
Bake the Rolls: Preheat your oven to 375°F (190°C). If using an egg wash, whisk the egg and brush it over the tops of the rolls. Bake the rolls for 15-20 minutes, or until they are golden brown on top and sound hollow when tapped on the bottom.
Cool and Serve: Remove the rolls from the oven and brush the tops with melted butter for a shiny, soft finish. Let the rolls cool slightly before serving.